136
Total objective tests
34
Objectives passed
0
Objectives failed
102
Objectives skipped
10.3s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass61 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 164 warnings · 15846 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863970 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863970 ms (missed cycles : 2).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498281 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498281 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332948 ms (missed cycles : 7). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332948 ms (missed cycles : 7).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791910912.74662113 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOobjective_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: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.08sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.08sINFOobjective_server_nodecaller: ×4 + 3.08sINFOobjective_server_nodetype: 0 ×4 + 3.08sINFOobjective_server_nodename: "" ×4 + 3.08sINFOobjective_server_nodeinstance_id: "" ×4 + 3.08sINFOobjective_server_node ×4 + 3.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791910913.37282801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420756 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420756 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.33sINFOros2_control_node[2026-10-13 17:01:53.547] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-10-13 17:01:53.547] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087264 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087264 ms (missed cycles : 6).[0m ×2 + 4.59sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.60sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291317 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291317 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969840 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969840 ms (missed cycles : 2).[0m ×2 + 7.08sINFOjoint_trajectory_controllerReceived new action goal ×2597 + 7.08sINFOjoint_trajectory_controllerAccepted new action goal ×2597 + 7.08sINFOros2_control_nodeReceived new action goal[0m ×5194 + 7.08sINFOros2_control_nodeAccepted new action goal[0m ×5194 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960783 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960783 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721702 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721702 ms (missed cycles : 2).[0m ×2 + 9.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.64 s); wrist_camera (1.64 s). The render path has stopped producing new frames for them.[0m ×4 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707433 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707433 ms (missed cycles : 2).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676506 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676506 ms (missed cycles : 4).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837892 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837892 ms (missed cycles : 2).[0m ×2 + 11.68sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.68sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.68sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.68sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.68sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725320 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725320 ms (missed cycles : 2).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910115 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910115 ms (missed cycles : 2).[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684454 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684454 ms (missed cycles : 2).[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038388 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038388 ms (missed cycles : 2).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669338 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669338 ms (missed cycles : 2).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242406 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242406 ms (missed cycles : 3).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752073 ms (missed cycles : 2). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752073 ms (missed cycles : 2).[0m ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828613 ms (missed cycles : 2). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828613 ms (missed cycles : 2).[0m ×2 + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533501 ms (missed cycles : 2). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533501 ms (missed cycles : 2).[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667483 ms (missed cycles : 2). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667483 ms (missed cycles : 2).[0m ×2 + 22.03sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773867 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773867 ms (missed cycles : 2).[0m ×2 + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107400 ms (missed cycles : 2). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107400 ms (missed cycles : 2).[0m ×2 + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761989 ms (missed cycles : 2). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761989 ms (missed cycles : 2).[0m ×2 + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722840 ms (missed cycles : 2). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722840 ms (missed cycles : 2).[0m ×2 + 25.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937894 ms (missed cycles : 2). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937894 ms (missed cycles : 2).[0m ×2 + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572634 ms (missed cycles : 2). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572634 ms (missed cycles : 2).[0m ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765476 ms (missed cycles : 2). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765476 ms (missed cycles : 2).[0m ×2 + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848719 ms (missed cycles : 2). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848719 ms (missed cycles : 2).[0m ×2 + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733610 ms (missed cycles : 2). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733610 ms (missed cycles : 2).[0m ×2 + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684910 ms (missed cycles : 2). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684910 ms (missed cycles : 2).[0m ×2 + 32.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972448 ms (missed cycles : 2). + 32.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972448 ms (missed cycles : 2).[0m ×2 + 33.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724999 ms (missed cycles : 2). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724999 ms (missed cycles : 2).[0m ×2 + 33.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686494 ms (missed cycles : 2). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686494 ms (missed cycles : 2).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853150 ms (missed cycles : 2). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853150 ms (missed cycles : 2).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453502 ms (missed cycles : 2). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453502 ms (missed cycles : 2).[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132585 ms (missed cycles : 2). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132585 ms (missed cycles : 2).[0m ×2 + 38.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877940 ms (missed cycles : 2). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877940 ms (missed cycles : 2).[0m ×2 + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726305 ms (missed cycles : 2). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726305 ms (missed cycles : 2).[0m ×2 + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690285 ms (missed cycles : 2). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690285 ms (missed cycles : 2).[0m ×2 + 41.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186455 ms (missed cycles : 2). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186455 ms (missed cycles : 2).[0m ×2 + 42.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561278 ms (missed cycles : 3). + 42.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561278 ms (missed cycles : 3).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598434 ms (missed cycles : 3). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598434 ms (missed cycles : 3).[0m ×2 + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453262 ms (missed cycles : 4). + 44.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453262 ms (missed cycles : 4).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691062 ms (missed cycles : 2). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691062 ms (missed cycles : 2).[0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694188 ms (missed cycles : 2). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694188 ms (missed cycles : 2).[0m ×2 + 47.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910957.27553082 seconds ×3 + 47.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.60sINFOobjective_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: ""
+ 47.60sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.71sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791910957.93360519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.76sINFOobjective_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 + 47.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.86sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 47.87sINFOros2_control_node[2026-10-13 17:02:38.088] [info] Received new action goal ×2 + 47.87sINFOros2_control_node[2026-10-13 17:02:38.088] [info] Accepted new action goal ×2 + 48.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357060 ms (missed cycles : 2). + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357060 ms (missed cycles : 2).[0m ×2 + 49.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547100 ms (missed cycles : 6). + 49.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547100 ms (missed cycles : 6).[0m ×2 + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199718 ms (missed cycles : 3). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199718 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 153 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.01sINFOobjective_server_nodecaller: ×6 + 0.01sINFOobjective_server_nodetype: 0 ×6 + 0.01sINFOobjective_server_nodename: "" ×6 + 0.01sINFOobjective_server_nodeinstance_id: "" ×6 + 0.01sINFOobjective_server_node ×6 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×6 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910857.34355688 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910858.98925805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.95sINFOobjective_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 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2).[0m ×2 + 7.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×6 + 7.16sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 7.17sINFOros2_control_node[2026-10-13 17:01:02.294] [info] Received new action goal ×2 + 7.17sINFOros2_control_node[2026-10-13 17:01:02.294] [info] Accepted new action goal ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702423 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702423 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.963259 ms (missed cycles : 6). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.963259 ms (missed cycles : 6).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057559 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057559 ms (missed cycles : 2).[0m ×2 + 10.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.34sINFOros2_control_node[2026-10-13 17:01:05.464] [info] Received new action goal ×2 + 10.34sINFOros2_control_node[2026-10-13 17:01:05.464] [info] Accepted new action goal ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074086 ms (missed cycles : 4). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074086 ms (missed cycles : 4).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968684 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968684 ms (missed cycles : 3).[0m ×2 + 13.33sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 13.34sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707930 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707930 ms (missed cycles : 2).[0m ×2 + 13.38sINFOros2_control_node[2026-10-13 17:01:08.499] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-10-13 17:01:08.499] [info] Accepted new action goal ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843278 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843278 ms (missed cycles : 2).[0m ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017891 ms (missed cycles : 2). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017891 ms (missed cycles : 2).[0m ×2 + 16.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.34sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.34sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.34sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.34sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650131 ms (missed cycles : 3). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650131 ms (missed cycles : 3).[0m ×2 + 17.13sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166778 ms (missed cycles : 6). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166778 ms (missed cycles : 6).[0m ×2 + 17.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551295 ms (missed cycles : 4). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551295 ms (missed cycles : 4).[0m ×2 + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806843 ms (missed cycles : 2). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806843 ms (missed cycles : 2).[0m ×2 + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.880896 ms (missed cycles : 6). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.880896 ms (missed cycles : 6).[0m ×2 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394923 ms (missed cycles : 3). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394923 ms (missed cycles : 3).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269053 ms (missed cycles : 5). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269053 ms (missed cycles : 5).[0m ×2 + 23.15sINFOobjective_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 + 23.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.15sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.15sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.15sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.15sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.05sINFOros2_control_node[2026-10-13 17:01:19.169] [info] Received new action goal ×2 + 24.05sINFOros2_control_node[2026-10-13 17:01:19.169] [info] Accepted new action goal ×2 + 24.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004704 ms (missed cycles : 2). + 24.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004704 ms (missed cycles : 2).[0m ×2 + 25.21sINFOobjective_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 + 25.22sINFOobjective_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 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535239 ms (missed cycles : 3). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535239 ms (missed cycles : 3).[0m ×2 + 25.50sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 25.51sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.56sINFOros2_control_node[2026-10-13 17:01:20.683] [info] Received new action goal ×2 + 25.56sINFOros2_control_node[2026-10-13 17:01:20.683] [info] Accepted new action goal ×2 + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047890 ms (missed cycles : 2). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047890 ms (missed cycles : 2).[0m ×2 + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849202 ms (missed cycles : 2). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849202 ms (missed cycles : 2).[0m ×2 + 27.70sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 27.71sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.72sINFOros2_control_node[2026-10-13 17:01:22.841] [info] Received new action goal ×2 + 27.72sINFOros2_control_node[2026-10-13 17:01:22.841] [info] Accepted new action goal ×2 + 28.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695407 ms (missed cycles : 2). + 28.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695407 ms (missed cycles : 2).[0m ×2 + 29.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686752 ms (missed cycles : 2). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686752 ms (missed cycles : 2).[0m ×2 + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066131 ms (missed cycles : 2). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066131 ms (missed cycles : 2).[0m ×2 + 30.71sINFOros2_control_node[2026-10-13 17:01:25.829] [info] Received new action goal ×2 + 30.71sINFOros2_control_node[2026-10-13 17:01:25.829] [info] Accepted new action goal ×2 + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000234 ms (missed cycles : 2). + 31.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000234 ms (missed cycles : 2).[0m ×2 + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349677 ms (missed cycles : 3). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349677 ms (missed cycles : 3).[0m ×2 + 33.31sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 33.32sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.36sINFOros2_control_node[2026-10-13 17:01:28.483] [info] Received new action goal ×2 + 33.36sINFOros2_control_node[2026-10-13 17:01:28.483] [info] Accepted new action goal ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710388 ms (missed cycles : 2). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710388 ms (missed cycles : 2).[0m ×2 + 34.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471190 ms (missed cycles : 4). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471190 ms (missed cycles : 4).[0m ×2 + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809918 ms (missed cycles : 3). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809918 ms (missed cycles : 3).[0m ×2 + 37.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621468 ms (missed cycles : 4). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621468 ms (missed cycles : 4).[0m ×2 + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941735 ms (missed cycles : 2). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941735 ms (missed cycles : 2).[0m ×2 + 39.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 39.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689355 ms (missed cycles : 4). + 39.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689355 ms (missed cycles : 4).[0m ×2 + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586294 ms (missed cycles : 2). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586294 ms (missed cycles : 2).[0m ×2 + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241930 ms (missed cycles : 2). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241930 ms (missed cycles : 2).[0m ×2 + 42.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111302 ms (missed cycles : 5). + 42.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111302 ms (missed cycles : 5).[0m ×2 + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112005 ms (missed cycles : 4). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112005 ms (missed cycles : 4).[0m ×2 + 44.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784088 ms (missed cycles : 2). + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784088 ms (missed cycles : 2).[0m ×2 + 44.81sINFOros2_control_node[2026-10-13 17:01:39.932] [info] Received new action goal ×2 + 44.81sINFOros2_control_node[2026-10-13 17:01:39.932] [info] Accepted new action goal ×2 + 45.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052442 ms (missed cycles : 2). + 45.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052442 ms (missed cycles : 2).[0m ×2 + 45.98sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791910901.09752917 seconds ×3 + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911860 ms (missed cycles : 2). + 46.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911860 ms (missed cycles : 2).[0m ×2 + 46.57sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791910901.90448594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715847 ms (missed cycles : 3). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715847 ms (missed cycles : 3).[0m ×2 + 47.81sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 47.83sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.85sINFOros2_control_node[2026-10-13 17:01:42.970] [info] Received new action goal ×2 + 47.85sINFOros2_control_node[2026-10-13 17:01:42.970] [info] Accepted new action goal ×2 + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979262 ms (missed cycles : 4). + 48.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979262 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 37.5s | 3 errors · 142 warnings · 296 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439576 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439576 ms (missed cycles : 6).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500831 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500831 ms (missed cycles : 4).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001362 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001362 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_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 + 3.31sERRORobjective_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: 1791911022.87924480 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815779 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815779 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.86sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.86sINFOobjective_server_nodecaller: ×8 + 3.86sINFOobjective_server_nodetype: 0 ×8 + 3.86sINFOobjective_server_nodename: "" ×8 + 3.86sINFOobjective_server_nodeinstance_id: "" ×8 + 3.86sINFOobjective_server_node ×8 + 3.95sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791911023.51463318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229664 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229664 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.99sINFOros2_control_node[2026-10-13 17:03:44.559] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-10-13 17:03:44.559] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829868 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829868 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290637 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290637 ms (missed cycles : 4).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644553 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644553 ms (missed cycles : 2).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967820 ms (missed cycles : 4). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967820 ms (missed cycles : 4).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678925 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678925 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976082 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976082 ms (missed cycles : 2).[0m ×2 + 11.26sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 11.27sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 11.32sINFOros2_control_node[2026-10-13 17:03:50.882] [info] Received new action goal ×2 + 11.32sINFOros2_control_node[2026-10-13 17:03:50.882] [info] Accepted new action goal ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731251 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731251 ms (missed cycles : 2).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105222 ms (missed cycles : 6). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105222 ms (missed cycles : 6).[0m ×2 + 13.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645470 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645470 ms (missed cycles : 3).[0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703282 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703282 ms (missed cycles : 2).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059463 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059463 ms (missed cycles : 2).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567264 ms (missed cycles : 4). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567264 ms (missed cycles : 4).[0m ×2 + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702727 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702727 ms (missed cycles : 2).[0m ×2 + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052095 ms (missed cycles : 2). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052095 ms (missed cycles : 2).[0m ×2 + 19.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212704 ms (missed cycles : 2). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212704 ms (missed cycles : 2).[0m ×2 + 21.17sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 21.17sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 21.19sINFOros2_control_node[2026-10-13 17:04:00.753] [info] Received new action goal ×2 + 21.19sINFOros2_control_node[2026-10-13 17:04:00.753] [info] Accepted new action goal ×2 + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695306 ms (missed cycles : 3). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695306 ms (missed cycles : 3).[0m ×2 + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.314786 ms (missed cycles : 7). + 22.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.314786 ms (missed cycles : 7).[0m ×2 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.052748 ms (missed cycles : 7). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.052748 ms (missed cycles : 7).[0m ×2 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492601 ms (missed cycles : 4). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492601 ms (missed cycles : 4).[0m ×2 + 25.50sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381278 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381278 ms (missed cycles : 2).[0m ×2 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995808 ms (missed cycles : 2). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995808 ms (missed cycles : 2).[0m ×2 + 27.50sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 27.51sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 27.57sINFOros2_control_node[2026-10-13 17:04:07.135] [info] Received new action goal ×2 + 27.57sINFOros2_control_node[2026-10-13 17:04:07.135] [info] Accepted new action goal ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759712 ms (missed cycles : 2). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759712 ms (missed cycles : 2).[0m ×2 + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677706 ms (missed cycles : 2). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677706 ms (missed cycles : 2).[0m ×2 + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836763 ms (missed cycles : 2). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836763 ms (missed cycles : 2).[0m ×2 + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487591 ms (missed cycles : 4). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487591 ms (missed cycles : 4).[0m ×2 + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280187 ms (missed cycles : 4). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280187 ms (missed cycles : 4).[0m ×2 + 32.69sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402058 ms (missed cycles : 4). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402058 ms (missed cycles : 4).[0m ×2 + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843749 ms (missed cycles : 3). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843749 ms (missed cycles : 3).[0m ×2 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246766 ms (missed cycles : 4). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.246766 ms (missed cycles : 4).[0m ×2 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419819 ms (missed cycles : 3). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419819 ms (missed cycles : 3).[0m ×2 + 36.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 37.00sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 37.01sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 37.03sINFOros2_control_node[2026-10-13 17:04:16.593] [info] Received new action goal ×2 + 37.03sINFOros2_control_node[2026-10-13 17:04:16.593] [info] Accepted new action goal ×2 + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743058 ms (missed cycles : 6). + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743058 ms (missed cycles : 6).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6).[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 40.81sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 41.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 41.44sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 41.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 41.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 41.72sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 41.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 41.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 41.74sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 41.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 42.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 42.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 42.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 42.40sINFOobjective_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 + 42.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 42.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 43.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 43.00sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 43.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 43.17sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 43.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 43.18sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 43.18sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 22.3s | 3 errors · 93 warnings · 189 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206622 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206622 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.06sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 0.06sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 0.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.20sINFOobjective_server_nodeFound path in 1 iterations (0.00323369 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.46sINFOros2_control_node[2026-10-13 17:00:17.529] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-10-13 17:00:17.529] [info] Accepted new action goal ×2 + 0.89sINFOros2_control_node[2026-10-13 17:00:17.961] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-10-13 17:00:17.961] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951699 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951699 ms (missed cycles : 2).[0m ×2 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119872 ms (missed cycles : 7). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119872 ms (missed cycles : 7).[0m ×2 + 2.40sINFOobjective_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 + 2.40sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.40sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.40sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.40sERRORobjective_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: 1791910819.47379780 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791910820.33553052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707081 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707081 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.29sINFOros2_control_node[2026-10-13 17:00:21.360] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-10-13 17:00:21.360] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.800194 ms (missed cycles : 9). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.800194 ms (missed cycles : 9).[0m ×2 + 5.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637480 ms (missed cycles : 6). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637480 ms (missed cycles : 6).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197187 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197187 ms (missed cycles : 5).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414023 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414023 ms (missed cycles : 3).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213996 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213996 ms (missed cycles : 4).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150435 ms (missed cycles : 4). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150435 ms (missed cycles : 4).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.338763 ms (missed cycles : 5). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.338763 ms (missed cycles : 5).[0m ×2 + 11.07sWARNros2_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 + 11.10sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 11.11sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 11.17sINFOros2_control_node[2026-10-13 17:00:28.240] [info] Received new action goal ×2 + 11.17sINFOros2_control_node[2026-10-13 17:00:28.240] [info] Accepted new action goal ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145242 ms (missed cycles : 5). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145242 ms (missed cycles : 5).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714867 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714867 ms (missed cycles : 2).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749646 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749646 ms (missed cycles : 3).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479810 ms (missed cycles : 4). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479810 ms (missed cycles : 4).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912182 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912182 ms (missed cycles : 2).[0m ×2 + 16.09sWARNros2_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 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413388 ms (missed cycles : 4). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413388 ms (missed cycles : 4).[0m ×2 + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706842 ms (missed cycles : 4). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706842 ms (missed cycles : 4).[0m ×2 + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143776 ms (missed cycles : 2). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143776 ms (missed cycles : 2).[0m ×2 + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414362 ms (missed cycles : 4). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414362 ms (missed cycles : 4).[0m ×2 + 20.65sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 20.75sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 20.77sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 20.78sINFOros2_control_node[2026-10-13 17:00:37.850] [info] Received new action goal ×2 + 20.78sINFOros2_control_node[2026-10-13 17:00:37.850] [info] Accepted new action goal ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279457 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279457 ms (missed cycles : 2).[0m ×2 + 22.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989630 ms (missed cycles : 2). + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989630 ms (missed cycles : 2).[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037162 ms (missed cycles : 2). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037162 ms (missed cycles : 2).[0m ×2 + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379140 ms (missed cycles : 3). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379140 ms (missed cycles : 3).[0m ×2 + 24.69sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791910841.76417112 seconds ×3 + 25.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.24sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 25.39sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791910842.46437907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987530 ms (missed cycles : 5). + 25.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987530 ms (missed cycles : 5).[0m ×2 + 25.52sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 25.52sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 25.53sINFOros2_control_node[2026-10-13 17:00:42.599] [info] Received new action goal ×2 + 25.53sINFOros2_control_node[2026-10-13 17:00:42.599] [info] Accepted new action goal ×2 + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032974 ms (missed cycles : 2). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032974 ms (missed cycles : 2).[0m ×2 + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570278 ms (missed cycles : 5). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570278 ms (missed cycles : 5).[0m ×2 + 28.05sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 28.05sINFOros2_control_node[2026-10-13 17:00:45.122] [info] Received new action goal ×2 + 28.05sINFOros2_control_node[2026-10-13 17:00:45.122] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 11686 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1915 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1915 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×3830 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×3830 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598434 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598434 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453262 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453262 ms (missed cycles : 4).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691062 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691062 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694188 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694188 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910957.27553082 seconds ×3 + 3.39sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.39sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.39sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.39sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.93sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.93sINFOobjective_server_nodecaller: ×4 + 3.93sINFOobjective_server_nodetype: 0 ×4 + 3.93sINFOobjective_server_nodename: "" ×4 + 3.93sINFOobjective_server_nodeinstance_id: "" ×4 + 3.93sINFOobjective_server_node ×4 + 4.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791910957.93360519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.20sINFOros2_control_node[2026-10-13 17:02:38.088] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-10-13 17:02:38.088] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357060 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357060 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 5.45sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.50sINFOobjective_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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547100 ms (missed cycles : 6). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547100 ms (missed cycles : 6).[0m ×2 + 5.53sINFOobjective_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 + 5.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199718 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199718 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483453 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483453 ms (missed cycles : 2).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083245 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083245 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768966 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768966 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632345 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632345 ms (missed cycles : 2).[0m ×2 + 11.39sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×4 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509609 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509609 ms (missed cycles : 3).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620725 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620725 ms (missed cycles : 3).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930981 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930981 ms (missed cycles : 2).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940017 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940017 ms (missed cycles : 2).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178357 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178357 ms (missed cycles : 2).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069825 ms (missed cycles : 4). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069825 ms (missed cycles : 4).[0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694924 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694924 ms (missed cycles : 2).[0m ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029100 ms (missed cycles : 2). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029100 ms (missed cycles : 2).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498443 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498443 ms (missed cycles : 2).[0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754798 ms (missed cycles : 2). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754798 ms (missed cycles : 2).[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841332 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841332 ms (missed cycles : 2).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7).[0m ×2 + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2).[0m ×2 + 24.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2). + 24.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2).[0m ×2 + 25.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910979.42566562 seconds ×3 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4).[0m ×2 + 26.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910980.18082261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.49sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 26.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.51sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Received new action goal ×2 + 26.51sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Accepted new action goal ×2 + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2).[0m ×2 + 27.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 59 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989630 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989630 ms (missed cycles : 2).[0m ×2 + 0.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037162 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037162 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379140 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379140 ms (missed cycles : 3).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791910841.76417112 seconds ×3 + 2.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.01sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.01sINFOobjective_server_nodecaller: ×6 + 3.01sINFOobjective_server_nodetype: 0 ×6 + 3.01sINFOobjective_server_nodename: "" ×6 + 3.01sINFOobjective_server_nodeinstance_id: "" ×6 + 3.01sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791910842.46437907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987530 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.987530 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.30sINFOros2_control_node[2026-10-13 17:00:42.599] [info] Received new action goal ×2 + 3.30sINFOros2_control_node[2026-10-13 17:00:42.599] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032974 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032974 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570278 ms (missed cycles : 5). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570278 ms (missed cycles : 5).[0m ×2 + 5.82sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.82sINFOros2_control_node[2026-10-13 17:00:45.122] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-10-13 17:00:45.122] [info] Accepted new action goal ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305454 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305454 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.929029 ms (missed cycles : 6). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.929029 ms (missed cycles : 6).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867036 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867036 ms (missed cycles : 2).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150614 ms (missed cycles : 4). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150614 ms (missed cycles : 4).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625801 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625801 ms (missed cycles : 3).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891292 ms (missed cycles : 4). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891292 ms (missed cycles : 4).[0m ×2 + 12.68sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429364 ms (missed cycles : 4). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429364 ms (missed cycles : 4).[0m ×2 + 14.39sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791910853.69151974 seconds ×3 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561344 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561344 ms (missed cycles : 2).[0m ×2 + 14.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.94sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791910854.30310059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.05sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791910854.38324165 seconds ×3 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367345 ms (missed cycles : 4). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367345 ms (missed cycles : 4).[0m ×2 + 15.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.83sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.89sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.02sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 16.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.04sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 16.04sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112005 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112005 ms (missed cycles : 4).[0m ×2 + 0.36sINFOobjective_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 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.37sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.37sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.37sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784088 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784088 ms (missed cycles : 2).[0m ×2 + 1.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.42sINFOros2_control_node[2026-10-13 17:01:39.932] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-10-13 17:01:39.932] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052442 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791910901.09752917 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911860 ms (missed cycles : 2). + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911860 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.18sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791910901.90448594 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 3.715847 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715847 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.46sINFOros2_control_node[2026-10-13 17:01:42.970] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-10-13 17:01:42.970] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979262 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979262 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794786 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794786 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769649 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769649 ms (missed cycles : 2).[0m ×2 + 8.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.15sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.15sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.15sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.16sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526916 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526916 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916065 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916065 ms (missed cycles : 2).[0m ×2 + 10.59sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 10.61sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.63sINFOros2_control_node[2026-10-13 17:01:49.141] [info] Received new action goal ×2 + 10.63sINFOros2_control_node[2026-10-13 17:01:49.141] [info] Accepted new action goal ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.617321 ms (missed cycles : 5). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.617321 ms (missed cycles : 5).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863970 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863970 ms (missed cycles : 2).[0m ×2 + 12.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498281 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498281 ms (missed cycles : 2).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332948 ms (missed cycles : 7). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332948 ms (missed cycles : 7).[0m ×2 + 14.23sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791910912.74662113 seconds ×3 + 14.78sINFOobjective_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: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791910913.37282801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420756 ms (missed cycles : 3). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420756 ms (missed cycles : 3).[0m ×2 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 15.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.03sINFOros2_control_node[2026-10-13 17:01:53.547] [info] Received new action goal ×2 + 15.03sINFOros2_control_node[2026-10-13 17:01:53.547] [info] Accepted new action goal ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087264 ms (missed cycles : 6). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087264 ms (missed cycles : 6).[0m ×2 + 16.30sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.31sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291317 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291317 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 77 errors · 39 warnings · 475 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791911072.87936735 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911073.49173427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2).[0m ×2 + 1.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911074.45186639 seconds ×3 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791911075.06423783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.20sINFOobjective_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 + 2.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791911075.06615686 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791911075.67689991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791911075.71790361 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791911076.33439016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791911077.17452407 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296470 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296470 ms (missed cycles : 2).[0m ×2 + 4.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508233 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508233 ms (missed cycles : 4).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342518 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342518 ms (missed cycles : 3).[0m ×2 + 7.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907338 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907338 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544715 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544715 ms (missed cycles : 3).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780046 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780046 ms (missed cycles : 2).[0m ×2 + 10.26sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.29sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORweb_video_auth_proxy-25process has died [pid 8371, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.29sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.29sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.30sERRORweb_bridge_auth_proxy-24process has died [pid 8370, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.30sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.31sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.31sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.32sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.32sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.33sINFOvideo_server-23process has finished cleanly [pid 8369] ×2 + 10.33sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.33sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.34sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.35sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.35sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.36sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.36sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.37sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.38sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.39sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.39sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.39sINFOvideo_server2026/10/13 17:04:43 INF shutting down gracefully ×2 + 10.39sINFOvideo_server2026/10/13 17:04:43 INF [WebRTC] closing ×2 + 10.39sINFOvideo_server2026/10/13 17:04:43 INF [RTSP] closing ×2 + 10.39sINFOvideo_server2026/10/13 17:04:43 INF waiting for running hooks ×2 + 10.39sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.39sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.39sINFOcontroller_managerShutdown request received.... + 10.39sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.39sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.39sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.39sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.39sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.39sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.39sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.39sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.39sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.39sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.39sERRORmove_groupStack trace (most recent call last) in thread 8781: ×2 + 10.39sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.40sINFOcontroller_managerShutting down the controller manager. + 10.40sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.40sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.40sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.40sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.40sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.40sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8493686cc3, in __clone ×2 + 10.40sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f84935f9b83, in ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.40sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f849388adb3, in ×2 + 10.40sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.40sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.40sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.40sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.40sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.40sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.40sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f8493ff4064, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.40sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8493c1e620, in rclcpp::Rate::sleep() ×2 + 10.40sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8493b60d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.40sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8493b22087, in ×2 + 10.40sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8493859390, in __cxa_throw ×2 + 10.40sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8493843a54, in std::terminate() ×2 + 10.40sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f84938590d9, in ×2 + 10.40sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8493843ff4, in ×2 + 10.40sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f84935858fe, in abort ×2 + 10.40sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f84935a227d, in raise ×2 + 10.40sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f84935fbc0c, in pthread_kill ×2 + 10.40sERRORmove_groupAborted (Signal sent by tkill() 8292 0) ×2 + 10.41sERRORmove_group-9process has died [pid 8292, 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_4ql1up5_ --params-file /tmp/launch_params_ay284w39 --params-file /tmp/launch_params_w2blj5mt --params-file /tmp/launch_params_earh2hec --params-file /tmp/launch_params_xiyvwlgj --params-file /tmp/launch_params_bcdnwi5c']. ×2 + 10.60sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.60sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.61sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.34sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.34sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.34sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.34sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.34sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.34sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.34sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.34sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.34sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.34sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.34sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.34sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.34sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.34sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.34sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.34sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.34sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.34sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.34sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.34sINFOjoint_state_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.35sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.35sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.35sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.35sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.35sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.35sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.35sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.35sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.35sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.35sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.35sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.35sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.35sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.35sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.35sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.35sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.35sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 11.35sINFOtf_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 11.35sINFOtf_visualization_relay^^^^^^^^^^^^^^^ ×2 + 11.35sINFOtf_visualization_relayrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 11.36sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8368] ×2 + 11.36sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.41sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8296] ×2 + 11.42sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8295] ×2 + 11.42sERRORjoint_state_visualization_relay-21process has died [pid 8367, 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_tlvlsx9f']. ×2 + 11.42sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.42sERRORtf_visualization_relay-20process has died [pid 8366, 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__3u47z8m']. ×2 + 11.42sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.45sINFOwaypoint_manager_node-11process has finished cleanly [pid 8294] ×2 + 11.45sINFOparameter_manager_node-10process has finished cleanly [pid 8293] ×2 + 11.46sINFOui_teleop_bridge-18process has finished cleanly [pid 8301] ×2 + 11.46sINFOexecute_objective_bridge-17process has finished cleanly [pid 8300] ×2 + 11.52sINFOcomponent_container_mt-16process has finished cleanly [pid 8299] ×2 + 11.55sINFOobjective_server_node[0;m[2026-10-13 17:04:44.413] [moveit_pro_license] [critical] ×2 + 11.55sINFOobjective_server_node************************************************* ×4 + 11.55sINFOobjective_server_node* MoveIt Pro License ×2 + 11.55sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.68sINFOobjective_server_node_main-14process has finished cleanly [pid 8297] ×2 + 11.68sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.55sINFOcomponent_container_mt-15process has finished cleanly [pid 8298] ×2 + 12.89sINFOweb_bridge-19process has finished cleanly [pid 8302] ×2 + 12.89sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.05sINFOros2_control_node-1process has finished cleanly [pid 8241] ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 57 warnings · 233 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910785.49731517 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.36sINFOobjective_server_nodecaller: ×6 + 2.36sINFOobjective_server_nodetype: 0 ×6 + 2.36sINFOobjective_server_nodename: "" ×6 + 2.36sINFOobjective_server_nodeinstance_id: "" ×6 + 2.36sINFOobjective_server_node ×6 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910786.12182903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910786.20198727 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910786.89801788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707294 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707294 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 6.69sINFOobjective_server_nodePath shortcutter: [X________X] ×8 + 6.71sINFOros2_control_node[2026-10-13 16:59:50.393] [info] Received new action goal ×2 + 6.71sINFOros2_control_node[2026-10-13 16:59:50.393] [info] Accepted new action goal ×2 + 7.24sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372900 ms (missed cycles : 3). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372900 ms (missed cycles : 3).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184627 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184627 ms (missed cycles : 3).[0m ×2 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 9.07sINFOros2_control_node[2026-10-13 16:59:52.750] [info] Received new action goal ×2 + 9.07sINFOros2_control_node[2026-10-13 16:59:52.750] [info] Accepted new action goal ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888882 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888882 ms (missed cycles : 3).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 11.43sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 11.43sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 12.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 13.78sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 13.78sINFOobjective_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 + 13.79sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 13.79sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 13.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 13.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 13.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910797.48114514 seconds ×3 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 14.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 14.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 62 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169020 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169020 ms (missed cycles : 4).[0m ×2 + 0.58sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.85sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.85sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.86sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791910806.27562499 seconds ×3 + 0.88sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629117 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629117 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002193 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002193 ms (missed cycles : 3).[0m ×2 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419127 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419127 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791910809.16973162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.99sINFOros2_control_node[2026-10-13 17:00:09.384] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-10-13 17:00:09.384] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051396 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051396 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841343 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841343 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699719 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699719 ms (missed cycles : 2).[0m ×2 + 6.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085648 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085648 ms (missed cycles : 3).[0m ×2 + 7.96sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.96sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.96sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (2.02e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.43sINFOobjective_server_nodeFound path in 5 iterations (0.00696961 s). ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763317 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763317 ms (missed cycles : 2).[0m ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (2.08e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.20sINFOros2_control_node[2026-10-13 17:00:14.594] [info] Received new action goal ×2 + 9.20sINFOros2_control_node[2026-10-13 17:00:14.594] [info] Accepted new action goal ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926319 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926319 ms (missed cycles : 2).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815511 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815511 ms (missed cycles : 2).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206622 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206622 ms (missed cycles : 2).[0m ×2 + 11.73sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 11.73sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.73sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.74sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 11.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 11.87sINFOobjective_server_nodeFound path in 1 iterations (0.00323369 s). ×2 + 12.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.13sINFOros2_control_node[2026-10-13 17:00:17.529] [info] Received new action goal ×2 + 12.13sINFOros2_control_node[2026-10-13 17:00:17.529] [info] Accepted new action goal ×2 + 12.57sINFOros2_control_node[2026-10-13 17:00:17.961] [info] Received new action goal ×2 + 12.57sINFOros2_control_node[2026-10-13 17:00:17.961] [info] Accepted new action goal ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951699 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951699 ms (missed cycles : 2).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119872 ms (missed cycles : 7). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119872 ms (missed cycles : 7).[0m ×2 + 14.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.07sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.07sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.07sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.08sERRORobjective_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: 1791910819.47379780 seconds ×3 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.94sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791910820.33553052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707081 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707081 ms (missed cycles : 3).[0m ×2 + 15.95sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 15.96sINFOros2_control_node[2026-10-13 17:00:21.360] [info] Received new action goal ×2 + 15.96sINFOros2_control_node[2026-10-13 17:00:21.360] [info] Accepted new action goal ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.800194 ms (missed cycles : 9). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.800194 ms (missed cycles : 9).[0m ×2 + 16.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637480 ms (missed cycles : 6). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637480 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323000 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323000 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081621 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081621 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825309 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825309 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.69sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 2.70sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.71sINFOros2_control_node[2026-10-13 16:59:22.988] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-10-13 16:59:22.988] [info] Accepted new action goal ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859221 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859221 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.10sINFOros2_control_node[2026-10-13 16:59:23.373] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-10-13 16:59:23.373] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1791910763.39015579 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.65sINFOobjective_server_nodecaller: ×6 + 3.65sINFOobjective_server_nodetype: 0 ×6 + 3.65sINFOobjective_server_nodename: "" ×6 + 3.65sINFOobjective_server_nodeinstance_id: "" ×6 + 3.65sINFOobjective_server_node ×6 + 3.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791910764.03364778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.98sINFOros2_control_node[2026-10-13 16:59:24.258] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-10-13 16:59:24.258] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587540 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587540 ms (missed cycles : 4).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627679 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627679 ms (missed cycles : 4).[0m ×2 + 6.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.24sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.26sINFOros2_control_node[2026-10-13 16:59:26.539] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-10-13 16:59:26.539] [info] Accepted new action goal ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.871995 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.871995 ms (missed cycles : 6).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881002 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881002 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378034 ms (missed cycles : 6). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378034 ms (missed cycles : 6).[0m ×2 + 8.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142817 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142817 ms (missed cycles : 4).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834006 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834006 ms (missed cycles : 2).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4).[0m ×2 + 14.08sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 14.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 14.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910774.37395191 seconds ×3 + 14.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.64sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910774.97803736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910775.08816576 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2).[0m ×2 + 15.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.43sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910775.78432059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 15.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.72sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Received new action goal ×2 + 15.72sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Accepted new action goal ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2).[0m ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 62 warnings · 202 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×4 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432001 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432001 ms (missed cycles : 2).[0m ×2 + 7.82sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.82sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.82sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 5 iterations (0.00512297 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.625832 ms (missed cycles : 6). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.625832 ms (missed cycles : 6).[0m ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.02sINFOros2_control_node[2026-10-13 17:00:03.711] [info] Received new action goal ×2 + 9.02sINFOros2_control_node[2026-10-13 17:00:03.711] [info] Accepted new action goal ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598266 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598266 ms (missed cycles : 2).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169020 ms (missed cycles : 4). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169020 ms (missed cycles : 4).[0m ×2 + 11.29sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.56sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.56sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.56sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791910806.27562499 seconds ×3 + 11.59sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629117 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629117 ms (missed cycles : 3).[0m ×2 + 12.20sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002193 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002193 ms (missed cycles : 3).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419127 ms (missed cycles : 5). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419127 ms (missed cycles : 5).[0m ×2 + 14.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.34sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.48sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791910809.16973162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 14.70sINFOros2_control_node[2026-10-13 17:00:09.384] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-10-13 17:00:09.384] [info] Accepted new action goal ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051396 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051396 ms (missed cycles : 2).[0m ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841343 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841343 ms (missed cycles : 2).[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699719 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699719 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 59 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293665 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293665 ms (missed cycles : 4).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821295 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821295 ms (missed cycles : 3).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823858 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823858 ms (missed cycles : 2).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344787 ms (missed cycles : 4). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344787 ms (missed cycles : 4).[0m ×2 + 10.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813940 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813940 ms (missed cycles : 2).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021687 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021687 ms (missed cycles : 2).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833678 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833678 ms (missed cycles : 2).[0m ×2 + 14.24sERRORobjective_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: 1791911001.37275529 seconds ×3 + 14.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.82sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791911002.01674914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779954 ms (missed cycles : 3). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779954 ms (missed cycles : 3).[0m ×2 + 15.19sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 15.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.22sINFOros2_control_node[2026-10-13 17:03:22.355] [info] Received new action goal ×2 + 15.22sINFOros2_control_node[2026-10-13 17:03:22.355] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696204 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696204 ms (missed cycles : 2).[0m ×2 + 16.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559958 ms (missed cycles : 4). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559958 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 59 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726734 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726734 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874207 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874207 ms (missed cycles : 3).[0m ×2 + 1.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432030 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432030 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791911011.95913553 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.015375 ms (missed cycles : 7). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.015375 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_nodecaller: ×4 + 3.87sINFOobjective_server_nodetype: 0 ×4 + 3.87sINFOobjective_server_nodename: "" ×4 + 3.87sINFOobjective_server_nodeinstance_id: "" ×4 + 3.87sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791911012.58894110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-10-13 17:03:32.733] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-13 17:03:32.733] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104529 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104529 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841668 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841668 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898523 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898523 ms (missed cycles : 6).[0m ×2 + 7.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×4 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134962 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134962 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017586 ms (missed cycles : 4). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017586 ms (missed cycles : 4).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987607 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987607 ms (missed cycles : 3).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439576 ms (missed cycles : 6). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439576 ms (missed cycles : 6).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500831 ms (missed cycles : 4). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500831 ms (missed cycles : 4).[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001362 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001362 ms (missed cycles : 2).[0m ×2 + 14.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.24sERRORobjective_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: 1791911022.87924480 seconds ×3 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815779 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815779 ms (missed cycles : 2).[0m ×2 + 14.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.88sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791911023.51463318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229664 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229664 ms (missed cycles : 2).[0m ×2 + 15.90sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 15.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.92sINFOros2_control_node[2026-10-13 17:03:44.559] [info] Received new action goal ×2 + 15.92sINFOros2_control_node[2026-10-13 17:03:44.559] [info] Accepted new action goal ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829868 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829868 ms (missed cycles : 2).[0m ×2 + 17.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290637 ms (missed cycles : 4). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290637 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.9s | 3 errors · 60 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 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: ×12 + 1.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.89sINFOobjective_server_nodecaller: ×12 + 1.89sINFOobjective_server_nodetype: 0 ×12 + 1.89sINFOobjective_server_nodename: "" ×12 + 1.89sINFOobjective_server_nodeinstance_id: "" ×12 + 1.89sINFOobjective_server_node ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_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 + 2.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 3.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.63sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872441 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.872441 ms (missed cycles : 6).[0m ×2 + 6.94sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.94sINFOros2_control_node[2026-10-13 17:04:26.058] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-10-13 17:04:26.058] [info] Accepted new action goal ×2 + 6.94sINFOros2_control_node[2026-10-13 17:04:26.058] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.820489 ms (missed cycles : 9). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.820489 ms (missed cycles : 9).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437558 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437558 ms (missed cycles : 2).[0m ×2 + 8.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749465 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749465 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833237 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833237 ms (missed cycles : 2).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855004 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855004 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6).[0m ×2 + 13.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.76sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Got request to cancel active goal. ×2 + 13.76sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Canceling active goal... ×2 + 13.76sERRORobjective_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: 1791911072.87936735 seconds ×3 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 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 + 14.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911073.49173427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2).[0m ×2 + 14.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 15.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911074.45186639 seconds ×3 + 15.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.89sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3).[0m ×2 + 15.95sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791911075.06423783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.95sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.95sINFOobjective_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 + 15.95sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.95sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791911075.06615686 seconds ×3 + 16.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.50sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791911075.67689991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.60sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791911075.71790361 seconds ×3 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 57 warnings · 2070 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×311 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×311 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×622 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×622 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910979.42566562 seconds ×3 + 3.40sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.40sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.40sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.04sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.04sINFOobjective_server_nodecaller: ×4 + 4.04sINFOobjective_server_nodetype: 0 ×4 + 4.04sINFOobjective_server_nodename: "" ×4 + 4.04sINFOobjective_server_nodeinstance_id: "" ×4 + 4.04sINFOobjective_server_node ×4 + 4.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910980.18082261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2).[0m ×2 + 4.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230234 ms (missed cycles : 4). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230234 ms (missed cycles : 4).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312672 ms (missed cycles : 2). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312672 ms (missed cycles : 2).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959183 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959183 ms (missed cycles : 2).[0m ×2 + 9.08sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.08sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.09sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 9.37sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 9.38sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 9.39sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 9.49sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.52sINFOobjective_server_nodeFound path in 1 iterations (0.004947 s). ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.75sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.78sINFOros2_control_node[2026-10-13 17:03:05.809] [info] Received new action goal ×2 + 9.78sINFOros2_control_node[2026-10-13 17:03:05.809] [info] Accepted new action goal ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510989 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510989 ms (missed cycles : 2).[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 11.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 12.08sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 12.08sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 13.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.74sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 13.74sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 14.34sINFOobjective_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 + 14.34sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 14.34sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 14.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 14.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.93sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.24sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 15.26sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 15.26sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 16.23sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 17.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 54 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 2.57sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.86sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.80sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 4.24sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961927 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961927 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.32sINFOros2_control_node[2026-10-13 16:59:15.997] [info] Received new action goal ×2 + 6.32sINFOros2_control_node[2026-10-13 16:59:15.997] [info] Accepted new action goal ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721026 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721026 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028899 ms (missed cycles : 4). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.028899 ms (missed cycles : 4).[0m ×2 + 9.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366745 ms (missed cycles : 4). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366745 ms (missed cycles : 4).[0m ×2 + 9.95sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 9.97sINFOros2_control_node[2026-10-13 16:59:19.647] [info] Received new action goal ×2 + 9.97sINFOros2_control_node[2026-10-13 16:59:19.647] [info] Accepted new action goal ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323000 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323000 ms (missed cycles : 2).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081621 ms (missed cycles : 5). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081621 ms (missed cycles : 5).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825309 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825309 ms (missed cycles : 2).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (5.76e-07 s). ×2 + 13.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.31sINFOros2_control_node[2026-10-13 16:59:22.988] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-10-13 16:59:22.988] [info] Accepted new action goal ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859221 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859221 ms (missed cycles : 2).[0m ×2 + 13.69sINFOobjective_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 + 13.70sINFOros2_control_node[2026-10-13 16:59:23.373] [info] Got request to cancel active goal. ×2 + 13.70sINFOros2_control_node[2026-10-13 16:59:23.373] [info] Canceling active goal... ×2 + 13.72sERRORobjective_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: 1791910763.39015579 seconds ×3 + 13.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.25sINFOobjective_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: ""
+ 14.25sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791910764.03364778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 14.57sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 14.58sINFOros2_control_node[2026-10-13 16:59:24.258] [info] Received new action goal ×2 + 14.58sINFOros2_control_node[2026-10-13 16:59:24.258] [info] Accepted new action goal ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587540 ms (missed cycles : 4). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587540 ms (missed cycles : 4).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627679 ms (missed cycles : 4). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.627679 ms (missed cycles : 4).[0m ×2 + 16.85sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 16.85sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.87sINFOros2_control_node[2026-10-13 16:59:26.539] [info] Received new action goal ×2 + 16.87sINFOros2_control_node[2026-10-13 16:59:26.539] [info] Accepted new action goal ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.871995 ms (missed cycles : 6). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.871995 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344787 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344787 ms (missed cycles : 4).[0m ×2 + 0.14sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813940 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813940 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021687 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021687 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833678 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833678 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sERRORobjective_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: 1791911001.37275529 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.00sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 4.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.00sINFOobjective_server_nodecaller: ×4 + 4.00sINFOobjective_server_nodetype: 0 ×4 + 4.00sINFOobjective_server_nodename: "" ×4 + 4.00sINFOobjective_server_nodeinstance_id: "" ×4 + 4.00sINFOobjective_server_node ×4 + 4.06sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791911002.01674914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779954 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779954 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.40sINFOros2_control_node[2026-10-13 17:03:22.355] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-10-13 17:03:22.355] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696204 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696204 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559958 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559958 ms (missed cycles : 4).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994727 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994727 ms (missed cycles : 2).[0m ×2 + 8.42sINFOros2_control_node[2026-10-13 17:03:26.372] [info] Received new action goal ×2 + 8.42sINFOros2_control_node[2026-10-13 17:03:26.372] [info] Accepted new action goal ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114574 ms (missed cycles : 5). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114574 ms (missed cycles : 5).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407190 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407190 ms (missed cycles : 2).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726734 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726734 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874207 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874207 ms (missed cycles : 3).[0m ×2 + 12.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432030 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432030 ms (missed cycles : 3).[0m ×2 + 14.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791911011.95913553 seconds ×3 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.015375 ms (missed cycles : 7). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.015375 ms (missed cycles : 7).[0m ×2 + 14.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.55sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791911012.58894110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 14.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.78sINFOros2_control_node[2026-10-13 17:03:32.733] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-10-13 17:03:32.733] [info] Accepted new action goal ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104529 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104529 ms (missed cycles : 2).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841668 ms (missed cycles : 4). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841668 ms (missed cycles : 4).[0m ×2 + 16.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898523 ms (missed cycles : 6). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898523 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.3s | 3 errors · 57 warnings · 271 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 2.43sINFOobjective_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 + 2.44sERRORobjective_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: 1791910774.37395191 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.98sINFOobjective_server_nodecaller: ×8 + 2.98sINFOobjective_server_nodetype: 0 ×8 + 2.98sINFOobjective_server_nodename: "" ×8 + 2.98sINFOobjective_server_nodeinstance_id: "" ×8 + 2.98sINFOobjective_server_node ×8 + 3.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910774.97803736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910775.08816576 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910775.78432059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692779 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692779 ms (missed cycles : 2).[0m ×2 + 7.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.94sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.05sINFOobjective_server_nodeFound path in 1 iterations (0.0036667 s). ×2 + 8.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.29sINFOros2_control_node[2026-10-13 16:59:40.227] [info] Received new action goal ×2 + 8.29sINFOros2_control_node[2026-10-13 16:59:40.227] [info] Accepted new action goal ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485277 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485277 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.067427 ms (missed cycles : 5). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.067427 ms (missed cycles : 5).[0m ×2 + 10.60sINFOros2_control_node[2026-10-13 16:59:42.530] [info] Received new action goal ×2 + 10.60sINFOros2_control_node[2026-10-13 16:59:42.530] [info] Accepted new action goal ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555046 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555046 ms (missed cycles : 2).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5).[0m ×2 + 12.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.27sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Received new action goal ×2 + 12.27sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Accepted new action goal ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2).[0m ×2 + 13.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 13.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910785.49731517 seconds ×3 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4).[0m ×2 + 14.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.10sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910786.12182903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910786.20198727 seconds ×3 + 14.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.90sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910786.89801788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2).[0m ×2 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.10sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Accepted new action goal ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 4.0s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891292 ms (missed cycles : 4).[0m ×2 + 0.72sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429364 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429364 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791910853.69151974 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561344 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561344 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.98sINFOobjective_server_nodecaller: ×6 + 2.98sINFOobjective_server_nodetype: 0 ×6 + 2.98sINFOobjective_server_nodename: "" ×6 + 2.98sINFOobjective_server_nodeinstance_id: "" ×6 + 2.98sINFOobjective_server_node ×6 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791910854.30310059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791910854.38324165 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367345 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367345 ms (missed cycles : 4).[0m ×2 + 3.86sINFOobjective_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: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910857.34355688 seconds ×3 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2).[0m ×2 + 7.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.65sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.73sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910858.98925805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.81sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.82sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4).[0m ×2 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 8.17sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Received new action goal ×2 + 8.17sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Accepted new action goal ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833237 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855004 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855004 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6).[0m ×2 + 3.17sINFOobjective_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 + 3.18sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1791911072.87936735 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.73sINFOobjective_server_nodecaller: ×8 + 3.73sINFOobjective_server_nodetype: 0 ×8 + 3.73sINFOobjective_server_nodename: "" ×8 + 3.73sINFOobjective_server_nodeinstance_id: "" ×8 + 3.73sINFOobjective_server_node ×8 + 3.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911073.49173427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911074.45186639 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791911075.06423783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791911075.06615686 seconds ×3 + 5.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.92sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791911075.67689991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791911075.71790361 seconds ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791911076.33439016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791911077.17452407 seconds ×3 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296470 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296470 ms (missed cycles : 2).[0m ×2 + 7.51sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 27 warnings · 415 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8242] ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019477 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019477 ms (missed cycles : 2).[0m ×2 + 1.61sWARNros2_control_nodeCamera render tick took 2.07 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3).[0m ×2 + 2.15sWARNobjective_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 + 2.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×17 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2).[0m ×2 + 2.92sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.95sINFOobjective_server_nodecaller: ×14 + 2.95sINFOobjective_server_nodetype: 0 ×14 + 2.95sINFOobjective_server_nodename: "" ×14 + 2.95sINFOobjective_server_nodeinstance_id: "" ×14 + 2.95sINFOobjective_server_node ×14 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910748.12794447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910748.13819718 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 7.13sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 7.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 8.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.08sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.22sINFOobjective_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 + 8.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.36sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 8.36sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.9s | 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743058 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743058 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.01sINFOobjective_server_nodecaller: ×6 + 4.01sINFOobjective_server_nodetype: 0 ×6 + 4.01sINFOobjective_server_nodename: "" ×6 + 4.01sINFOobjective_server_nodeinstance_id: "" ×6 + 4.01sINFOobjective_server_node ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.74sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.75sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.43sINFOobjective_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 + 2.44sERRORobjective_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: 1791910774.37395191 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910774.97803736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910775.08816576 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910775.78432059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-10-13 16:59:42.530] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-13 16:59:42.530] [info] Accepted new action goal ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555046 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555046 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2).[0m ×2 + 2.64sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910785.49731517 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910786.12182903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910786.20198727 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.37sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910786.89801788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.50sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 22 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891292 ms (missed cycles : 4).[0m ×2 + 0.72sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429364 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429364 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791910853.69151974 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561344 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561344 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791910854.30310059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791910854.38324165 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367345 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367345 ms (missed cycles : 4).[0m ×2 + 3.86sINFOobjective_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: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910857.34355688 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 29 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.07 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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3).[0m ×2 + 0.54sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×4 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.33sINFOobjective_server_nodecaller: ×14 + 1.33sINFOobjective_server_nodetype: 0 ×14 + 1.33sINFOobjective_server_nodename: "" ×14 + 1.33sINFOobjective_server_nodeinstance_id: "" ×14 + 1.33sINFOobjective_server_node ×14 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910748.12794447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910748.13819718 seconds ×3 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 6.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.75sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_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 + 1.02sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Got request to cancel active goal. ×2 + 1.02sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Canceling active goal... ×2 + 1.03sERRORobjective_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: 1791911072.87936735 seconds ×3 + 1.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.57sINFOobjective_server_nodecaller: ×8 + 1.57sINFOobjective_server_nodetype: 0 ×8 + 1.57sINFOobjective_server_nodename: "" ×8 + 1.57sINFOobjective_server_nodeinstance_id: "" ×8 + 1.57sINFOobjective_server_node ×8 + 1.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911073.49173427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2).[0m ×2 + 2.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911074.45186639 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791911075.06423783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.21sINFOobjective_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 + 3.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791911075.06615686 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.82sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791911075.67689991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791911075.71790361 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791911076.33439016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791911077.17452407 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296470 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296470 ms (missed cycles : 2).[0m ×2 + 5.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508233 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508233 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.97sINFOobjective_server_nodecaller: ×6 + 2.97sINFOobjective_server_nodetype: 0 ×6 + 2.97sINFOobjective_server_nodename: "" ×6 + 2.97sINFOobjective_server_nodeinstance_id: "" ×6 + 2.97sINFOobjective_server_node ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.91sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 4.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.60sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.72sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 4.72sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_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 + 1.02sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Got request to cancel active goal. ×2 + 1.02sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Canceling active goal... ×2 + 1.03sERRORobjective_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: 1791911072.87936735 seconds ×3 + 1.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.57sINFOobjective_server_nodecaller: ×8 + 1.57sINFOobjective_server_nodetype: 0 ×8 + 1.57sINFOobjective_server_nodename: "" ×8 + 1.57sINFOobjective_server_nodeinstance_id: "" ×8 + 1.57sINFOobjective_server_node ×8 + 1.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911073.49173427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2).[0m ×2 + 2.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911074.45186639 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791911075.06423783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.21sINFOobjective_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 + 3.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791911075.06615686 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.82sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791911075.67689991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791911075.71790361 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791911076.33439016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791911077.17452407 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296470 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296470 ms (missed cycles : 2).[0m ×2 + 5.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508233 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508233 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910785.49731517 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.36sINFOobjective_server_nodecaller: ×4 + 2.36sINFOobjective_server_nodetype: 0 ×4 + 2.36sINFOobjective_server_nodename: "" ×4 + 2.36sINFOobjective_server_nodeinstance_id: "" ×4 + 2.36sINFOobjective_server_node ×4 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910786.12182903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910786.20198727 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910786.89801788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 1954 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×311 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×311 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×622 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×622 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910979.42566562 seconds ×3 + 3.40sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.40sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.40sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.04sINFOobjective_server_nodecaller: ×2 + 4.04sINFOobjective_server_nodetype: 0 ×2 + 4.04sINFOobjective_server_nodename: "" ×2 + 4.04sINFOobjective_server_nodeinstance_id: "" ×2 + 4.04sINFOobjective_server_node ×2 + 4.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910980.18082261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2).[0m ×2 + 4.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.43sINFOobjective_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 + 2.44sERRORobjective_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: 1791910774.37395191 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910774.97803736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910775.08816576 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910775.78432059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.43sINFOobjective_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 + 2.44sERRORobjective_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: 1791910774.37395191 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910774.97803736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910775.08816576 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910775.78432059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.43sINFOobjective_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 + 2.44sERRORobjective_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: 1791910774.37395191 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910774.97803736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910775.08816576 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910775.78432059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.43sINFOobjective_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 + 2.44sERRORobjective_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: 1791910774.37395191 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910774.97803736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910775.08816576 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910775.78432059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.43sINFOobjective_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 + 2.44sERRORobjective_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: 1791910774.37395191 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910774.97803736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910775.08816576 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910775.78432059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.796640 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218885 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458831 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 2.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 2.43sINFOobjective_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 + 2.44sERRORobjective_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: 1791910774.37395191 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910774.97803736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910775.08816576 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061824 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910775.78432059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-10-13 16:59:35.999] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946752 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397347 ms (missed cycles : 6).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.699435 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910785.49731517 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.36sINFOobjective_server_nodecaller: ×4 + 2.36sINFOobjective_server_nodetype: 0 ×4 + 2.36sINFOobjective_server_nodename: "" ×4 + 2.36sINFOobjective_server_nodeinstance_id: "" ×4 + 2.36sINFOobjective_server_node ×4 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910786.12182903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910786.20198727 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910786.89801788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910785.49731517 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.36sINFOobjective_server_nodecaller: ×4 + 2.36sINFOobjective_server_nodetype: 0 ×4 + 2.36sINFOobjective_server_nodename: "" ×4 + 2.36sINFOobjective_server_nodeinstance_id: "" ×4 + 2.36sINFOobjective_server_node ×4 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910786.12182903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910786.20198727 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910786.89801788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910785.49731517 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.36sINFOobjective_server_nodecaller: ×4 + 2.36sINFOobjective_server_nodetype: 0 ×4 + 2.36sINFOobjective_server_nodename: "" ×4 + 2.36sINFOobjective_server_nodeinstance_id: "" ×4 + 2.36sINFOobjective_server_node ×4 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910786.12182903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910786.20198727 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910786.89801788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.108648 ms (missed cycles : 5).[0m ×2 + 0.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-10-13 16:59:44.201] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463833 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910785.49731517 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874184 ms (missed cycles : 4).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.36sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.36sINFOobjective_server_nodecaller: ×4 + 2.36sINFOobjective_server_nodetype: 0 ×4 + 2.36sINFOobjective_server_nodename: "" ×4 + 2.36sINFOobjective_server_nodeinstance_id: "" ×4 + 2.36sINFOobjective_server_node ×4 + 2.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910786.12182903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910786.20198727 seconds ×3 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910786.89801788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931388 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-10-13 16:59:47.033] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243607 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905814 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101577 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 0.41sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:59:55.110] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016059 ms (missed cycles : 2).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418791 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 2.78sINFOobjective_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 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Received new action goal ×2 + 2.78sINFOros2_control_node[2026-10-13 16:59:57.470] [info] Accepted new action goal ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-10-13 16:59:57.478] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1791910797.48114514 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.125918 ms (missed cycles : 8).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910798.14320064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:59:58.347] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804238 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797110 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451611 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 22 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206622 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206622 ms (missed cycles : 2).[0m ×2 + 0.05sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.06sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 0.06sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.20sINFOobjective_server_nodeFound path in 1 iterations (0.00323369 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOros2_control_node[2026-10-13 17:00:17.529] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-10-13 17:00:17.529] [info] Accepted new action goal ×2 + 0.89sINFOros2_control_node[2026-10-13 17:00:17.961] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-10-13 17:00:17.961] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951699 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951699 ms (missed cycles : 2).[0m ×2 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119872 ms (missed cycles : 7). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119872 ms (missed cycles : 7).[0m ×2 + 2.40sINFOobjective_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 + 2.40sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.40sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.40sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.40sERRORobjective_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: 1791910819.47379780 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791910820.33553052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707081 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707081 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.29sINFOros2_control_node[2026-10-13 17:00:21.360] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-10-13 17:00:21.360] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.800194 ms (missed cycles : 9). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.800194 ms (missed cycles : 9).[0m ×2 + 5.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637480 ms (missed cycles : 6). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637480 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 22 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891292 ms (missed cycles : 4).[0m ×2 + 0.72sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429364 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429364 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791910853.69151974 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561344 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561344 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791910854.30310059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.10sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791910854.38324165 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367345 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367345 ms (missed cycles : 4).[0m ×2 + 3.86sINFOobjective_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: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910857.34355688 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910858.98925805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910857.34355688 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910858.98925805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910857.34355688 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910858.98925805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910857.34355688 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910858.98925805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910857.34355688 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910858.98925805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910857.34355688 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910858.98925805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.01sINFOobjective_server_nodecaller: ×4 + 0.01sINFOobjective_server_nodetype: 0 ×4 + 0.01sINFOobjective_server_nodename: "" ×4 + 0.01sINFOobjective_server_nodeinstance_id: "" ×4 + 0.01sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910855.19339705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-10-13 17:00:55.338] [info] Accepted new action goal ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295653 ms (missed cycles : 2).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518524 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910857.34355688 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755866 ms (missed cycles : 2).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910858.98925805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015717 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-10-13 17:00:59.427] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501419 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863970 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863970 ms (missed cycles : 2).[0m ×2 + 0.80sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498281 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498281 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332948 ms (missed cycles : 7). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.332948 ms (missed cycles : 7).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791910912.74662113 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOobjective_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: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.08sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.08sINFOobjective_server_nodecaller: ×2 + 3.08sINFOobjective_server_nodetype: 0 ×2 + 3.08sINFOobjective_server_nodename: "" ×2 + 3.08sINFOobjective_server_nodeinstance_id: "" ×2 + 3.08sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791910913.37282801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420756 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420756 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.33sINFOros2_control_node[2026-10-13 17:01:53.547] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-10-13 17:01:53.547] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087264 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.087264 ms (missed cycles : 6).[0m ×2 + 4.59sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.60sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291317 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291317 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 1954 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×311 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×311 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×622 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×622 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910979.42566562 seconds ×3 + 3.40sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.40sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.40sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.04sINFOobjective_server_nodecaller: ×2 + 4.04sINFOobjective_server_nodetype: 0 ×2 + 4.04sINFOobjective_server_nodename: "" ×2 + 4.04sINFOobjective_server_nodeinstance_id: "" ×2 + 4.04sINFOobjective_server_node ×2 + 4.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910980.18082261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2).[0m ×2 + 4.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 1954 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×311 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×311 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×622 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×622 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910979.42566562 seconds ×3 + 3.40sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.40sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.40sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.04sINFOobjective_server_nodecaller: ×2 + 4.04sINFOobjective_server_nodetype: 0 ×2 + 4.04sINFOobjective_server_nodename: "" ×2 + 4.04sINFOobjective_server_nodeinstance_id: "" ×2 + 4.04sINFOobjective_server_node ×2 + 4.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910980.18082261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2).[0m ×2 + 4.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 1954 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×311 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×311 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×622 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×622 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910979.42566562 seconds ×3 + 3.40sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.40sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.40sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.04sINFOobjective_server_nodecaller: ×2 + 4.04sINFOobjective_server_nodetype: 0 ×2 + 4.04sINFOobjective_server_nodename: "" ×2 + 4.04sINFOobjective_server_nodeinstance_id: "" ×2 + 4.04sINFOobjective_server_node ×2 + 4.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910980.18082261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2).[0m ×2 + 4.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 1954 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×311 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×311 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×622 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×622 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.119673 ms (missed cycles : 7).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016093 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843642 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910979.42566562 seconds ×3 + 3.40sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.40sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.40sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162411 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.04sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.04sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.04sINFOobjective_server_nodecaller: ×2 + 4.04sINFOobjective_server_nodetype: 0 ×2 + 4.04sINFOobjective_server_nodename: "" ×2 + 4.04sINFOobjective_server_nodeinstance_id: "" ×2 + 4.04sINFOobjective_server_node ×2 + 4.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910980.18082261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 17:03:00.395] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160916 ms (missed cycles : 2).[0m ×2 + 4.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581732 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2). + 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941256 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-13 17:03:08.112] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802581 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947536 ms (missed cycles : 4).[0m ×2 + 2.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-10-13 17:03:09.765] [info] Accepted new action goal ×2 + 3.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-10-13 17:03:10.371] [info] Canceling active goal... ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910990.38694191 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641580 ms (missed cycles : 4).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.83sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.83sINFOobjective_server_nodecaller: ×2 + 3.83sINFOobjective_server_nodetype: 0 ×2 + 3.83sINFOobjective_server_nodename: "" ×2 + 3.83sINFOobjective_server_nodeinstance_id: "" ×2 + 3.83sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910991.07229495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-10-13 17:03:11.287] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344791 ms (missed cycles : 5).[0m ×2 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868753 ms (missed cycles : 2).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328554 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 25 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344787 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344787 ms (missed cycles : 4).[0m ×2 + 0.14sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813940 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813940 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021687 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021687 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833678 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833678 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sERRORobjective_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: 1791911001.37275529 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.00sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 4.00sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.00sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.00sINFOobjective_server_nodecaller: ×2 + 4.00sINFOobjective_server_nodetype: 0 ×2 + 4.00sINFOobjective_server_nodename: "" ×2 + 4.00sINFOobjective_server_nodeinstance_id: "" ×2 + 4.00sINFOobjective_server_node ×2 + 4.06sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791911002.01674914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779954 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779954 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.40sINFOros2_control_node[2026-10-13 17:03:22.355] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-10-13 17:03:22.355] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696204 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696204 ms (missed cycles : 2).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559958 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.559958 ms (missed cycles : 4).[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 1.726734 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726734 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874207 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874207 ms (missed cycles : 3).[0m ×2 + 1.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432030 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432030 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791911011.95913553 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.015375 ms (missed cycles : 7). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.015375 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.87sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.87sINFOobjective_server_nodecaller: ×2 + 3.87sINFOobjective_server_nodetype: 0 ×2 + 3.87sINFOobjective_server_nodename: "" ×2 + 3.87sINFOobjective_server_nodeinstance_id: "" ×2 + 3.87sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791911012.58894110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.09sINFOros2_control_node[2026-10-13 17:03:32.733] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-13 17:03:32.733] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104529 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104529 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841668 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841668 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898523 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898523 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439576 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439576 ms (missed cycles : 6).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500831 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500831 ms (missed cycles : 4).[0m ×2 + 1.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001362 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001362 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_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 + 3.31sERRORobjective_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: 1791911022.87924480 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815779 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815779 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.95sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791911023.51463318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229664 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229664 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.99sINFOros2_control_node[2026-10-13 17:03:44.559] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-10-13 17:03:44.559] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829868 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829868 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290637 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.290637 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743058 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743058 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.01sINFOobjective_server_nodecaller: ×6 + 4.01sINFOobjective_server_nodetype: 0 ×6 + 4.01sINFOobjective_server_nodename: "" ×6 + 4.01sINFOobjective_server_nodeinstance_id: "" ×6 + 4.01sINFOobjective_server_node ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.74sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.75sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743058 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743058 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.01sINFOobjective_server_nodecaller: ×6 + 4.01sINFOobjective_server_nodetype: 0 ×6 + 4.01sINFOobjective_server_nodename: "" ×6 + 4.01sINFOobjective_server_nodeinstance_id: "" ×6 + 4.01sINFOobjective_server_node ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.74sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.75sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743058 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.743058 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548697 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 4.01sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 4.01sINFOobjective_server_nodeparameter_overrides: [] ×6 + 4.01sINFOobjective_server_nodecaller: ×6 + 4.01sINFOobjective_server_nodetype: 0 ×6 + 4.01sINFOobjective_server_nodename: "" ×6 + 4.01sINFOobjective_server_nodeinstance_id: "" ×6 + 4.01sINFOobjective_server_node ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.74sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.75sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 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 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.89sINFOobjective_server_nodecaller: ×6 + 1.89sINFOobjective_server_nodetype: 0 ×6 + 1.89sINFOobjective_server_nodename: "" ×6 + 1.89sINFOobjective_server_nodeinstance_id: "" ×6 + 1.89sINFOobjective_server_node ×6 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_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 + 2.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 3.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.63sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 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 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.89sINFOobjective_server_nodecaller: ×6 + 1.89sINFOobjective_server_nodetype: 0 ×6 + 1.89sINFOobjective_server_nodename: "" ×6 + 1.89sINFOobjective_server_nodeinstance_id: "" ×6 + 1.89sINFOobjective_server_node ×6 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_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 + 2.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 3.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.63sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 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 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.89sINFOobjective_server_nodecaller: ×6 + 1.89sINFOobjective_server_nodetype: 0 ×6 + 1.89sINFOobjective_server_nodename: "" ×6 + 1.89sINFOobjective_server_nodeinstance_id: "" ×6 + 1.89sINFOobjective_server_node ×6 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_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 + 2.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 3.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.63sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815708 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792170 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791911060.38121271 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 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 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.89sINFOobjective_server_nodecaller: ×6 + 1.89sINFOobjective_server_nodetype: 0 ×6 + 1.89sINFOobjective_server_nodename: "" ×6 + 1.89sINFOobjective_server_nodeinstance_id: "" ×6 + 1.89sINFOobjective_server_node ×6 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772198 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791911061.25385475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791911061.33400798 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791911061.94473720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_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 + 2.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791911061.96723270 seconds ×3 + 3.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548472 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791911062.63334942 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.63sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-10-13 17:04:22.747] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.671520 ms (missed cycles : 7).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979795 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833237 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855004 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855004 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6).[0m ×2 + 3.17sINFOobjective_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 + 3.18sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1791911072.87936735 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.73sINFOobjective_server_nodecaller: ×6 + 3.73sINFOobjective_server_nodetype: 0 ×6 + 3.73sINFOobjective_server_nodename: "" ×6 + 3.73sINFOobjective_server_nodeinstance_id: "" ×6 + 3.73sINFOobjective_server_node ×6 + 3.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911073.49173427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911074.45186639 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791911075.06423783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791911075.06615686 seconds ×3 + 5.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.92sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791911075.67689991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791911075.71790361 seconds ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833237 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833237 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855004 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855004 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.712185 ms (missed cycles : 6).[0m ×2 + 3.17sINFOobjective_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 + 3.18sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-10-13 17:04:32.874] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1791911072.87936735 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616038 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.73sINFOobjective_server_nodecaller: ×6 + 3.73sINFOobjective_server_nodetype: 0 ×6 + 3.73sINFOobjective_server_nodename: "" ×6 + 3.73sINFOobjective_server_nodeinstance_id: "" ×6 + 3.73sINFOobjective_server_node ×6 + 3.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791911073.49173427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970268 ms (missed cycles : 2).[0m ×2 + 4.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791911074.45186639 seconds ×3 + 5.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.298806 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791911075.06423783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791911075.06615686 seconds ×3 + 5.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.92sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791911075.67689991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791911075.71790361 seconds ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737644 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 10.7s | 54 warnings · 765 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-13-16-58-57-436083-0418f8583e0a-8193 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.70sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.70sINFOcontroller_managerupdate rate is 600 Hz + 0.70sINFOcontroller_managerOverruns handling is : enabled + 0.70sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.70sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512282 ms (missed cycles : 3). + 0.91sINFOros2_control_node-1process started with pid [8241] ×2 + 0.91sINFOmove_group-9process started with pid [8292] ×2 + 0.92sINFOparameter_manager_node-10process started with pid [8293] ×2 + 0.92sINFOwaypoint_manager_node-11process started with pid [8294] ×2 + 0.92sINFOmove_joint_resampler_node-12process started with pid [8295] ×2 + 0.92sINFOmove_end_effector_resampler_node-13process started with pid [8296] ×2 + 0.92sINFOobjective_server_node_main-14process started with pid [8297] ×2 + 0.92sINFOcomponent_container_mt-15process started with pid [8298] ×2 + 0.92sINFOcomponent_container_mt-16process started with pid [8299] ×2 + 0.92sINFOexecute_objective_bridge-17process started with pid [8300] ×2 + 0.92sINFOui_teleop_bridge-18process started with pid [8301] ×2 + 0.92sINFOweb_bridge-19process started with pid [8302] ×2 + 0.92sINFOtf_visualization_relay-20process started with pid [8366] ×2 + 0.92sINFOjoint_state_visualization_relay-21process started with pid [8367] ×2 + 0.92sINFOtf2_web_republisher_node-22process started with pid [8368] ×2 + 0.92sINFOvideo_server-23process started with pid [8369] ×2 + 0.92sINFOweb_bridge_auth_proxy-24process started with pid [8370] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8371] ×2 + 0.93sINFOros2-2process started with pid [8242] ×2 + 0.93sINFOros2-3process started with pid [8243] ×2 + 0.93sINFOros2-4process started with pid [8244] ×2 + 0.93sINFOros2-5process started with pid [8245] ×2 + 0.93sINFOros2-6process started with pid [8246] ×2 + 0.93sINFOros2-7process started with pid [8247] ×2 + 0.93sINFOros2-8process started with pid [8248] ×2 + 0.96sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.96sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.96sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.96sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.96sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.96sWARNros2_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 + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512282 ms (missed cycles : 3).[0m ×2 + 0.98sINFOcontroller_managerReceived robot description from topic. + 0.98sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.99sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.99sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.02sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.16sINFOvideo_server2026/10/13 16:58:58 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/10/13 16:58:58 INF configuration loaded from /tmp/moveit-webrtc-nftxf1lr/mediamtx.yml ×2 + 1.17sINFOvideo_server2026/10/13 16:58:58 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.17sINFOvideo_server2026/10/13 16:58:58 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.28sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.71sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.71sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954087 ms (missed cycles : 2). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954087 ms (missed cycles : 2).[0m ×2 + 2.11sINFOmove_group[2026-10-13 16:58:59.897] [moveit_pro_license] [info] ×2 + 2.11sINFOmove_group************************************************* ×4 + 2.11sINFOmove_group* MoveIt Pro License ×2 + 2.11sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.13sINFOweb_bridge_auth_proxy2026-10-13 16:58:59,916 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.13sINFOweb_bridge_auth_proxy2026-10-13 16:58:59,918 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.14sINFOweb_video_auth_proxy2026-10-13 16:58:59,924 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.32sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.32sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.32sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.33sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.34sINFOwaypoint_manager_node[2026-10-13 16:59:00.119] [moveit_pro_license] [info] ×2 + 2.34sINFOwaypoint_manager_node************************************************* ×4 + 2.34sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.34sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.34sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.35sINFOros2_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 + 2.35sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.57sINFOmove_group ×4 + 2.57sINFOmove_group[92mYou can start planning now![0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806275 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806275 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_node[2026-10-13 16:59:01.173] [moveit_pro_license] [info] ×2 + 3.39sINFOobjective_server_node************************************************* ×4 + 3.39sINFOobjective_server_node* MoveIt Pro License ×2 + 3.39sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.57sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.58sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.84sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.84sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.43sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.44sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 4.44sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.44sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.44sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.44sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.44sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.44sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.44sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.44sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.44sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.44sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.44sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.44sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.44sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.44sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.44sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.44sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.44sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.44sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.44sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.44sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.44sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.44sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.44sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.44sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.44sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.44sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.44sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.44sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.44sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771065 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771065 ms (missed cycles : 2).[0m ×2 + 4.47sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.47sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.47sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.61sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 + 4.61sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 [0m ×2 + 4.63sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.63sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.63sINFOros2_control_node[2026-10-13 16:59:02.417] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.63sINFOros2_control_node[2026-10-13 16:59:02.417] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.64sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.66sINFOros2_control_node[2026-10-13 16:59:02.448] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.66sINFOros2_control_node[2026-10-13 16:59:02.448] [info] Controller state will be published at 50 Hz. ×2 + 4.68sINFOros2_control_node[2026-10-13 16:59:02.460] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.69sINFOcomponent_container_mt[2026-10-13 16:59:02.478] [moveit_pro_license] [info] ×2 + 4.69sINFOcomponent_container_mt************************************************* ×4 + 4.69sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.69sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.94sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.94sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.97sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.97sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 5.00sINFOros2-6process has finished cleanly [pid 8246] ×2 + 5.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 + 5.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 [0m ×2 + 5.08sINFOros2_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 + 5.08sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 5.08sWARNros2_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 + 5.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.08sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.08sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.11sINFOros2_control_node[2026-10-13 16:59:02.895] [info] Controller state will be published at 20 Hz. ×2 + 5.11sINFOros2_control_node[2026-10-13 16:59:02.896] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 + 5.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 [0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641755 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641755 ms (missed cycles : 2).[0m ×2 + 5.46sINFOros2-8process has finished cleanly [pid 8248] ×2 + 5.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerSuccessfully switched controllers! ×16 + 5.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 5.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.50sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.78sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.78sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.78sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.78sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.83sINFOros2-5process has finished cleanly [pid 8245] ×2 + 5.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 + 5.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 [0m ×2 + 5.89sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.89sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.89sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.92sINFOros2_control_node[2026-10-13 16:59:03.708] [info] Controller state will be published at 10 Hz. ×2 + 5.93sINFOros2_control_node[2026-10-13 16:59:03.710] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.25sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.25sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.25sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.25sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.25sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 + 6.25sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 [0m ×2 + 6.26sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.26sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.29sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.29sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.29sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.29sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.29sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.29sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.30sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.30sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.31sINFOros2-7process has finished cleanly [pid 8247] ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890423 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890423 ms (missed cycles : 2).[0m ×2 + 6.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.58sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 + 6.58sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 [0m ×2 + 6.62sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.62sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.62sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.64sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.64sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.65sINFOros2-3process has finished cleanly [pid 8243] ×2 + 6.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.94sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.94sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.94sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.94sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.94sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 + 6.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_iqbr3l4u --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_av0cc4ig --params-file /tmp/launch_params_5ygql2h2 [0m ×2 + 6.96sINFOros2-4process has finished cleanly [pid 8244] ×2 + 6.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.99sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.99sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.99sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.00sINFOforce_torque_sensor_broadcasterconfigure successful + 7.00sINFOros2_control_nodeconfigure successful[0m ×2 + 7.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.00sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.33sINFOros2-2process has finished cleanly [pid 8242] ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019477 ms (missed cycles : 2). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019477 ms (missed cycles : 2).[0m ×2 + 8.94sWARNros2_control_nodeCamera render tick took 2.07 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3).[0m ×2 + 9.48sWARNobjective_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 + 9.57sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 9.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 9.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 9.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 9.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 9.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 9.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 9.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 9.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 9.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 9.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 9.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 9.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2).[0m ×2 + 10.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 10.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 10.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 10.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 10.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 10.28sINFOobjective_server_nodecaller: ×10 + 10.28sINFOobjective_server_nodetype: 0 ×10 + 10.28sINFOobjective_server_nodename: "" ×10 + 10.28sINFOobjective_server_nodeinstance_id: "" ×10 + 10.28sINFOobjective_server_node ×10 + 10.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910748.12794447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910748.13819718 seconds ×3 + 10.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.91sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 10.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 10.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 11.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 12.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.46sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 12.51sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.57sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 13.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 13.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 13.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 13.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 25 warnings · 386 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2).[0m ×2 + 0.05sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×4 + 0.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.08sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.08sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.08sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.08sINFOobjective_server_nodecaller: ×14 + 0.08sINFOobjective_server_nodetype: 0 ×14 + 0.08sINFOobjective_server_nodename: "" ×14 + 0.08sINFOobjective_server_nodeinstance_id: "" ×14 + 0.08sINFOobjective_server_node ×14 + 0.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910748.12794447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910748.13819718 seconds ×3 + 0.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 4.27sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 5.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_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 + 5.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.49sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 5.49sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2).[0m ×2 + 0.68sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×4 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.70sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.71sINFOobjective_server_nodecaller: ×14 + 0.71sINFOobjective_server_nodetype: 0 ×14 + 0.71sINFOobjective_server_nodename: "" ×14 + 0.71sINFOobjective_server_nodeinstance_id: "" ×14 + 0.71sINFOobjective_server_node ×14 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910748.12794447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910748.13819718 seconds ×3 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 4.89sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 5.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.84sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_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 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.12sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 12 warnings · 187 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/2026-10-13-16-58-57-436083-0418f8583e0a-8193 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.70sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.70sINFOcontroller_managerupdate rate is 600 Hz + 0.70sINFOcontroller_managerOverruns handling is : enabled + 0.70sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.70sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512282 ms (missed cycles : 3). + 0.91sINFOros2_control_node-1process started with pid [8241] ×2 + 0.91sINFOmove_group-9process started with pid [8292] ×2 + 0.92sINFOparameter_manager_node-10process started with pid [8293] ×2 + 0.92sINFOwaypoint_manager_node-11process started with pid [8294] ×2 + 0.92sINFOmove_joint_resampler_node-12process started with pid [8295] ×2 + 0.92sINFOmove_end_effector_resampler_node-13process started with pid [8296] ×2 + 0.92sINFOobjective_server_node_main-14process started with pid [8297] ×2 + 0.92sINFOcomponent_container_mt-15process started with pid [8298] ×2 + 0.92sINFOcomponent_container_mt-16process started with pid [8299] ×2 + 0.92sINFOexecute_objective_bridge-17process started with pid [8300] ×2 + 0.92sINFOui_teleop_bridge-18process started with pid [8301] ×2 + 0.92sINFOweb_bridge-19process started with pid [8302] ×2 + 0.92sINFOtf_visualization_relay-20process started with pid [8366] ×2 + 0.92sINFOjoint_state_visualization_relay-21process started with pid [8367] ×2 + 0.92sINFOtf2_web_republisher_node-22process started with pid [8368] ×2 + 0.92sINFOvideo_server-23process started with pid [8369] ×2 + 0.92sINFOweb_bridge_auth_proxy-24process started with pid [8370] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8371] ×2 + 0.93sINFOros2-2process started with pid [8242] ×2 + 0.93sINFOros2-3process started with pid [8243] ×2 + 0.93sINFOros2-4process started with pid [8244] ×2 + 0.93sINFOros2-5process started with pid [8245] ×2 + 0.93sINFOros2-6process started with pid [8246] ×2 + 0.93sINFOros2-7process started with pid [8247] ×2 + 0.93sINFOros2-8process started with pid [8248] ×2 + 0.96sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.96sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.96sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.96sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.96sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.96sWARNros2_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 + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512282 ms (missed cycles : 3).[0m ×2 + 0.98sINFOcontroller_managerReceived robot description from topic. + 0.98sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.99sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.99sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.02sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.16sINFOvideo_server2026/10/13 16:58:58 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/10/13 16:58:58 INF configuration loaded from /tmp/moveit-webrtc-nftxf1lr/mediamtx.yml ×2 + 1.17sINFOvideo_server2026/10/13 16:58:58 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.17sINFOvideo_server2026/10/13 16:58:58 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.28sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.71sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.71sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954087 ms (missed cycles : 2). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954087 ms (missed cycles : 2).[0m ×2 + 2.11sINFOmove_group[2026-10-13 16:58:59.897] [moveit_pro_license] [info] ×2 + 2.11sINFOmove_group************************************************* ×4 + 2.11sINFOmove_group* MoveIt Pro License ×2 + 2.11sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.13sINFOweb_bridge_auth_proxy2026-10-13 16:58:59,916 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.13sINFOweb_bridge_auth_proxy2026-10-13 16:58:59,918 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.14sINFOweb_video_auth_proxy2026-10-13 16:58:59,924 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.32sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.32sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.32sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.33sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.34sINFOwaypoint_manager_node[2026-10-13 16:59:00.119] [moveit_pro_license] [info] ×2 + 2.34sINFOwaypoint_manager_node************************************************* ×4 + 2.34sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.34sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.34sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.35sINFOros2_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 + 2.35sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.41sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.57sINFOmove_group ×4 + 2.57sINFOmove_group[92mYou can start planning now![0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806275 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806275 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_node[2026-10-13 16:59:01.173] [moveit_pro_license] [info] ×2 + 3.39sINFOobjective_server_node************************************************* ×4 + 3.39sINFOobjective_server_node* MoveIt Pro License ×2 + 3.39sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.57sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.58sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.58sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.07 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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3).[0m ×2 + 0.54sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.33sINFOobjective_server_nodecaller: ×14 + 1.33sINFOobjective_server_nodetype: 0 ×14 + 1.33sINFOobjective_server_nodename: "" ×14 + 1.33sINFOobjective_server_nodeinstance_id: "" ×14 + 1.33sINFOobjective_server_node ×14 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910748.12794447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910748.13819718 seconds ×3 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 6.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.75sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.07 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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3).[0m ×2 + 0.54sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.33sINFOobjective_server_nodecaller: ×14 + 1.33sINFOobjective_server_nodetype: 0 ×14 + 1.33sINFOobjective_server_nodename: "" ×14 + 1.33sINFOobjective_server_nodeinstance_id: "" ×14 + 1.33sINFOobjective_server_node ×14 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910748.12794447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910748.13819718 seconds ×3 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 6.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.75sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.07 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 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833518 ms (missed cycles : 3).[0m ×2 + 0.54sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.63sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.33sINFOobjective_server_nodecaller: ×14 + 1.33sINFOobjective_server_nodetype: 0 ×14 + 1.33sINFOobjective_server_nodename: "" ×14 + 1.33sINFOobjective_server_nodeinstance_id: "" ×14 + 1.33sINFOobjective_server_node ×14 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910748.12794447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910748.13819718 seconds ×3 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 6.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.59sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.75sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2).[0m ×2 + 0.68sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×4 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.70sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.71sINFOobjective_server_nodecaller: ×14 + 0.71sINFOobjective_server_nodetype: 0 ×14 + 0.71sINFOobjective_server_nodename: "" ×14 + 0.71sINFOobjective_server_nodeinstance_id: "" ×14 + 0.71sINFOobjective_server_node ×14 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910748.12794447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910748.13819718 seconds ×3 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 4.89sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 5.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.84sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_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 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.12sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 383 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268920 ms (missed cycles : 2).[0m ×2 + 0.05sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×4 + 0.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.08sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.08sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.08sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.08sINFOobjective_server_nodecaller: ×14 + 0.08sINFOobjective_server_nodetype: 0 ×14 + 0.08sINFOobjective_server_nodename: "" ×14 + 0.08sINFOobjective_server_nodeinstance_id: "" ×14 + 0.08sINFOobjective_server_node ×14 + 0.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910748.12794447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910748.13819718 seconds ×3 + 0.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 4.27sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 5.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_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 + 5.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.49sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 5.49sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 23 warnings · 328 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961927 ms (missed cycles : 3). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961927 ms (missed cycles : 3).[0m ×2 + 7.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.23sINFOros2_control_node[2026-10-13 16:59:15.997] [info] Received new action goal ×2 + 7.23sINFOros2_control_node[2026-10-13 16:59:15.997] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910748.76426196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.113830 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910749.67443657 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373491 ms (missed cycles : 4).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910750.29630995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910750.35649323 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910751.02967906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910751.04982948 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703369 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910751.65960169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910751.81020665 seconds ×3 + 3.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910752.52172208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979836 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910752.57185292 seconds ×3 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910753.32273126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.4993e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:59:13.474] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896359 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251421 ms (missed cycles : 3).[0m ×2 | ||||