137
Total objective tests
34
Objectives passed
0
Objectives failed
103
Objectives skipped
10.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass61 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 126 warnings · 20028 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792305215.04014659 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_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: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792305215.65324306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.78sINFOros2_control_node[2026-10-18 06:33:35.817] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-10-18 06:33:35.817] [info] Accepted new action goal ×2 + 2.04sINFOobjective_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 + 2.05sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_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 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803463 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803463 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793967 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793967 ms (missed cycles : 2).[0m ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal ×3294 + 4.22sINFOjoint_trajectory_controllerAccepted new action goal ×3294 + 4.22sINFOros2_control_nodeReceived new action goal[0m ×6588 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×6588 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274668 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274668 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795631 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795631 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788281 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788281 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349856 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349856 ms (missed cycles : 2).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733888 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733888 ms (missed cycles : 2).[0m ×2 + 9.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 9.13sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 9.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 9.13sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 9.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195625 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195625 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792901 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792901 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152077 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152077 ms (missed cycles : 2).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673403 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673403 ms (missed cycles : 2).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276111 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276111 ms (missed cycles : 2).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141087 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141087 ms (missed cycles : 2).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721023 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721023 ms (missed cycles : 2).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843595 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843595 ms (missed cycles : 2).[0m ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378618 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378618 ms (missed cycles : 2).[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931676 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931676 ms (missed cycles : 2).[0m ×2 + 19.09sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319422 ms (missed cycles : 2). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319422 ms (missed cycles : 2).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674520 ms (missed cycles : 2). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674520 ms (missed cycles : 2).[0m ×2 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748315 ms (missed cycles : 2). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748315 ms (missed cycles : 2).[0m ×2 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038570 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038570 ms (missed cycles : 2).[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868132 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868132 ms (missed cycles : 2).[0m ×2 + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736254 ms (missed cycles : 2). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736254 ms (missed cycles : 2).[0m ×2 + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124536 ms (missed cycles : 2). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124536 ms (missed cycles : 2).[0m ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818452 ms (missed cycles : 2). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818452 ms (missed cycles : 2).[0m ×2 + 28.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056058 ms (missed cycles : 2). + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056058 ms (missed cycles : 2).[0m ×2 + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735198 ms (missed cycles : 2). + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735198 ms (missed cycles : 2).[0m ×2 + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438377 ms (missed cycles : 2). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438377 ms (missed cycles : 2).[0m ×2 + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815495 ms (missed cycles : 2). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815495 ms (missed cycles : 2).[0m ×2 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348088 ms (missed cycles : 2). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348088 ms (missed cycles : 2).[0m ×2 + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011523 ms (missed cycles : 2). + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011523 ms (missed cycles : 2).[0m ×2 + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055360 ms (missed cycles : 2). + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055360 ms (missed cycles : 2).[0m ×2 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737569 ms (missed cycles : 2). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737569 ms (missed cycles : 2).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022028 ms (missed cycles : 2). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022028 ms (missed cycles : 2).[0m ×2 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525743 ms (missed cycles : 2). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525743 ms (missed cycles : 2).[0m ×2 + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694970 ms (missed cycles : 2). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694970 ms (missed cycles : 2).[0m ×2 + 40.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766556 ms (missed cycles : 2). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766556 ms (missed cycles : 2).[0m ×2 + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039187 ms (missed cycles : 2). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039187 ms (missed cycles : 2).[0m ×2 + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932311 ms (missed cycles : 2). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932311 ms (missed cycles : 2).[0m ×2 + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283325 ms (missed cycles : 2). + 44.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283325 ms (missed cycles : 2).[0m ×2 + 44.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305259.54508758 seconds ×3 + 44.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.05sINFOobjective_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: ""
+ 45.05sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 45.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792305260.19038534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 45.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 45.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 45.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 45.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 45.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 45.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 45.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.30sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 45.30sINFOros2_control_node[2026-10-18 06:34:20.344] [info] Received new action goal ×2 + 45.30sINFOros2_control_node[2026-10-18 06:34:20.344] [info] Accepted new action goal ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962600 ms (missed cycles : 2). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962600 ms (missed cycles : 2).[0m ×2 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703523 ms (missed cycles : 2). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703523 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.9s | 27 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305161.21280098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Accepted new action goal ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.10sINFOros2_control_node[2026-10-18 06:32:44.487] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-10-18 06:32:44.487] [info] Accepted new action goal ×2 + 10.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.27sINFOros2_control_node[2026-10-18 06:32:47.658] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-10-18 06:32:47.658] [info] Accepted new action goal ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704060 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704060 ms (missed cycles : 2).[0m ×2 + 13.23sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 13.24sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.28sINFOros2_control_node[2026-10-18 06:32:50.671] [info] Received new action goal ×2 + 13.28sINFOros2_control_node[2026-10-18 06:32:50.671] [info] Accepted new action goal ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851805 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851805 ms (missed cycles : 2).[0m ×2 + 16.24sINFOobjective_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 + 16.24sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.24sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.25sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.25sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.73sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.79sINFOobjective_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 + 23.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.79sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.79sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.79sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.79sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.66sINFOros2_control_node[2026-10-18 06:33:02.047] [info] Received new action goal ×2 + 24.66sINFOros2_control_node[2026-10-18 06:33:02.047] [info] Accepted new action goal ×2 + 25.84sINFOobjective_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 + 25.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.14sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 26.19sINFOros2_control_node[2026-10-18 06:33:03.581] [info] Received new action goal ×2 + 26.19sINFOros2_control_node[2026-10-18 06:33:03.581] [info] Accepted new action goal ×2 + 28.48sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 28.48sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.50sINFOros2_control_node[2026-10-18 06:33:05.887] [info] Received new action goal ×2 + 28.50sINFOros2_control_node[2026-10-18 06:33:05.887] [info] Accepted new action goal ×2 + 31.50sINFOros2_control_node[2026-10-18 06:33:08.887] [info] Received new action goal ×2 + 31.50sINFOros2_control_node[2026-10-18 06:33:08.887] [info] Accepted new action goal ×2 + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873980 ms (missed cycles : 2). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873980 ms (missed cycles : 2).[0m ×2 + 34.09sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×4 + 34.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962991 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962991 ms (missed cycles : 2).[0m ×2 + 34.16sINFOros2_control_node[2026-10-18 06:33:11.551] [info] Received new action goal ×2 + 34.16sINFOros2_control_node[2026-10-18 06:33:11.551] [info] Accepted new action goal ×2 + 38.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718906 ms (missed cycles : 2). + 38.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718906 ms (missed cycles : 2).[0m ×2 + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682978 ms (missed cycles : 2). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682978 ms (missed cycles : 2).[0m ×2 + 44.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689694 ms (missed cycles : 2). + 44.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689694 ms (missed cycles : 2).[0m ×2 + 44.92sINFOros2_control_node[2026-10-18 06:33:22.310] [info] Received new action goal ×2 + 44.92sINFOros2_control_node[2026-10-18 06:33:22.310] [info] Accepted new action goal ×2 + 46.07sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792305203.46519446 seconds ×3 + 46.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.64sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082616 ms (missed cycles : 2). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082616 ms (missed cycles : 2).[0m ×2 + 46.86sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792305204.24803138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.89sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.90sINFOros2_control_node[2026-10-18 06:33:25.293] [info] Received new action goal ×2 + 47.90sINFOros2_control_node[2026-10-18 06:33:25.293] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 34.9s | 3 errors · 32 warnings · 296 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 + 0.01sERRORobjective_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: 1792305325.04945707 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739836 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739836 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792305325.67806268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.66sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.67sINFOros2_control_node[2026-10-18 06:35:26.712] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-18 06:35:26.712] [info] Accepted new action goal ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901706 ms (missed cycles : 5). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901706 ms (missed cycles : 5).[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757273 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757273 ms (missed cycles : 2).[0m ×2 + 5.74sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.55sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 6.56sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 6.61sINFOros2_control_node[2026-10-18 06:35:31.651] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-10-18 06:35:31.651] [info] Accepted new action goal ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722450 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722450 ms (missed cycles : 2).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798478 ms (missed cycles : 2). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798478 ms (missed cycles : 2).[0m ×2 + 16.42sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 16.43sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 16.44sINFOros2_control_node[2026-10-18 06:35:41.482] [info] Received new action goal ×2 + 16.44sINFOros2_control_node[2026-10-18 06:35:41.482] [info] Accepted new action goal ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621239 ms (missed cycles : 3). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621239 ms (missed cycles : 3).[0m ×2 + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551467 ms (missed cycles : 2). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551467 ms (missed cycles : 2).[0m ×2 + 21.61sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 21.62sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 21.68sINFOros2_control_node[2026-10-18 06:35:46.720] [info] Received new action goal ×2 + 21.68sINFOros2_control_node[2026-10-18 06:35:46.720] [info] Accepted new action goal ×2 + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937681 ms (missed cycles : 2). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937681 ms (missed cycles : 2).[0m ×2 + 29.09sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.15sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 31.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 31.17sINFOros2_control_node[2026-10-18 06:35:56.213] [info] Received new action goal ×2 + 31.17sINFOros2_control_node[2026-10-18 06:35:56.213] [info] Accepted new action goal ×2 + 34.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 35.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 35.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.85sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.85sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 35.87sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 35.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 36.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 36.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 36.49sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.51sINFOobjective_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 + 36.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 37.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 37.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 37.20sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 37.30sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 37.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 37.31sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 37.31sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 38.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 72 warnings · 13915 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2287 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2287 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4574 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4574 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039187 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039187 ms (missed cycles : 2).[0m ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932311 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932311 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283325 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283325 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305259.54508758 seconds ×3 + 3.38sINFOjoint_trajectory_controllerGot request to cancel goal ×3 + 3.38sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.38sINFOros2_control_nodeGot request to cancel goal[0m ×6 + 3.38sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792305260.19038534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_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 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.18sINFOros2_control_node[2026-10-18 06:34:20.344] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-10-18 06:34:20.344] [info] Accepted new action goal ×2 + 5.42sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.48sINFOobjective_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 + 5.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962600 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962600 ms (missed cycles : 2).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703523 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703523 ms (missed cycles : 2).[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280984 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280984 ms (missed cycles : 2).[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708652 ms (missed cycles : 2). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708652 ms (missed cycles : 2).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101233 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101233 ms (missed cycles : 2).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310364 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310364 ms (missed cycles : 2).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246968 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246968 ms (missed cycles : 2).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678749 ms (missed cycles : 2). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678749 ms (missed cycles : 2).[0m ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875218 ms (missed cycles : 2). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875218 ms (missed cycles : 2).[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788063 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788063 ms (missed cycles : 2).[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801829 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801829 ms (missed cycles : 2).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912882 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912882 ms (missed cycles : 2).[0m ×2 + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399534 ms (missed cycles : 2). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399534 ms (missed cycles : 2).[0m ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100270 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100270 ms (missed cycles : 2).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790426 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790426 ms (missed cycles : 2).[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698918 ms (missed cycles : 2). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698918 ms (missed cycles : 2).[0m ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2).[0m ×2 + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2).[0m ×2 + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2).[0m ×2 + 25.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305281.68132639 seconds ×3 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2).[0m ×2 + 26.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.15sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305282.43068862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.48sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 26.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.50sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Received new action goal ×2 + 26.50sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Accepted new action goal ×2 + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.9s | 3 errors · 12 warnings · 189 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00315623 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.39sINFOros2_control_node[2026-10-18 06:32:01.653] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-10-18 06:32:01.653] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-10-18 06:32:02.085] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-10-18 06:32:02.085] [info] Accepted new action goal ×2 + 2.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.88sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.88sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.88sERRORobjective_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: 1792305124.15045333 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792305124.99222231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.76sINFOros2_control_node[2026-10-18 06:32:06.027] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-10-18 06:32:06.027] [info] Accepted new action goal ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940990 ms (missed cycles : 5). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940990 ms (missed cycles : 5).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.596380 ms (missed cycles : 6). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.596380 ms (missed cycles : 6).[0m ×2 + 9.24sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.25sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.30sINFOros2_control_node[2026-10-18 06:32:10.564] [info] Received new action goal ×2 + 9.30sINFOros2_control_node[2026-10-18 06:32:10.564] [info] Accepted new action goal ×2 + 18.79sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.89sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 18.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.92sINFOros2_control_node[2026-10-18 06:32:20.186] [info] Received new action goal ×2 + 18.92sINFOros2_control_node[2026-10-18 06:32:20.186] [info] Accepted new action goal ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920648 ms (missed cycles : 2). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920648 ms (missed cycles : 2).[0m ×2 + 22.84sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792305144.10136819 seconds ×3 + 23.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.37sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809695 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809695 ms (missed cycles : 2).[0m ×2 + 23.52sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1792305144.78591943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.64sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 23.64sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.65sINFOros2_control_node[2026-10-18 06:32:24.920] [info] Received new action goal ×2 + 23.65sINFOros2_control_node[2026-10-18 06:32:24.920] [info] Accepted new action goal ×2 + 26.15sINFOros2_control_node[2026-10-18 06:32:27.415] [info] Received new action goal ×2 + 26.15sINFOros2_control_node[2026-10-18 06:32:27.415] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.3s | 69 errors · 25 warnings · 439 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[2026-10-18 06:36:12.549] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-18 06:36:12.549] [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: 1792305372.55390215 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 + 0.56sINFOobjective_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: 1792305373.16045761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305373.93061543 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4).[0m ×2 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305374.54523230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.01sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.01sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.01sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305374.54809475 seconds ×3 + 2.02sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.55sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305375.15026522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305375.17100358 seconds ×3 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305375.86827826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3).[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505249 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505249 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792305378.12840223 seconds ×3 + 5.63sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076302 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076302 ms (missed cycles : 2).[0m ×2 + 11.16sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 11.18sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 11.19sERRORweb_video_auth_proxy-25process has died [pid 8443, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.19sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 11.19sERRORweb_bridge_auth_proxy-24process has died [pid 8442, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.19sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 11.20sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 11.20sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 11.20sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.21sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.21sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.22sINFOvideo_server-23process has finished cleanly [pid 8441] ×2 + 11.22sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.22sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.23sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.23sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.24sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.24sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733462 ms (missed cycles : 2). + 11.25sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.25sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.26sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.26sINFOcontroller_managerShutdown request received.... + 11.26sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.26sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.26sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.26sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 11.26sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.26sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.26sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.26sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.26sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.26sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.26sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.26sINFOvideo_server2026/10/18 06:36:23 INF shutting down gracefully ×2 + 11.26sINFOvideo_server2026/10/18 06:36:23 INF [WebRTC] closing ×2 + 11.26sINFOvideo_server2026/10/18 06:36:23 INF [RTSP] closing ×2 + 11.26sINFOvideo_server2026/10/18 06:36:23 INF waiting for running hooks ×2 + 11.26sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.26sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.26sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.26sINFOcontroller_managerShutting down the controller manager. + 11.26sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733462 ms (missed cycles : 2).[0m ×2 + 11.26sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.26sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.26sERRORmove_groupStack trace (most recent call last) in thread 8868: ×2 + 11.26sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.26sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.26sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.26sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.26sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.26sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.27sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.27sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.27sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.27sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.27sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.27sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.27sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.27sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.27sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.27sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.27sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.27sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.27sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.27sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.27sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.27sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.27sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a2316bcc3, in __clone ×2 + 11.27sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a230deb83, in ×2 + 11.27sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7a2336fdb3, in ×2 + 11.27sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f7a23ad9e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.27sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a23703620, in rclcpp::Rate::sleep() ×2 + 11.27sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a23645d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.27sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7a23607087, in ×2 + 11.27sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7a2333e390, in __cxa_throw ×2 + 11.27sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7a23328a54, in std::terminate() ×2 + 11.27sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7a2333e0d9, in ×2 + 11.27sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7a23328ff4, in ×2 + 11.27sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a2306a8fe, in abort ×2 + 11.27sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a2308727d, in raise ×2 + 11.27sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7a230e0c0c, in pthread_kill ×2 + 11.27sERRORmove_groupAborted (Signal sent by tkill() 8369 0) ×2 + 11.28sERRORmove_group-9process has died [pid 8369, 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_gx8ezhll --params-file /tmp/launch_params_mwxbvkum --params-file /tmp/launch_params_kao283er --params-file /tmp/launch_params_a9po6mkj --params-file /tmp/launch_params_dcl6w68t --params-file /tmp/launch_params_ienvwq40']. ×2 + 11.46sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.46sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.46sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.23sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 12.23sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.23sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.23sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.23sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 12.23sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.23sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.23sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.23sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.23sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.23sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.23sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.23sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.23sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.23sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.23sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.23sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 12.23sINFOjoint_state_visualization_relaywait_set = _rclpy.WaitSet( ×2 + 12.23sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^ ×2 + 12.23sINFOjoint_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 + 12.24sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8440] ×2 + 12.25sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 12.28sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8373] ×2 + 12.29sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8372] ×2 + 12.30sINFOtf_visualization_relay-20process has finished cleanly [pid 8432] ×2 + 12.30sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 12.30sERRORjoint_state_visualization_relay-21process has died [pid 8437, 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_pkfre2ty']. ×2 + 12.30sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 12.33sINFOwaypoint_manager_node-11process has finished cleanly [pid 8371] ×2 + 12.33sINFOui_teleop_bridge-18process has finished cleanly [pid 8378] ×2 + 12.33sINFOparameter_manager_node-10process has finished cleanly [pid 8370] ×2 + 12.34sINFOexecute_objective_bridge-17process has finished cleanly [pid 8377] ×2 + 12.39sINFOcomponent_container_mt-16process has finished cleanly [pid 8376] ×2 + 12.43sINFOobjective_server_node[0;m[2026-10-18 06:36:24.973] [moveit_pro_license] [info] ×2 + 12.43sINFOobjective_server_node************************************************* ×4 + 12.43sINFOobjective_server_node* MoveIt Pro License ×2 + 12.43sINFOobjective_server_node* Application has successfully terminated ×2 + 12.71sINFOobjective_server_node_main-14process has finished cleanly [pid 8374] ×2 + 12.71sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.42sINFOcomponent_container_mt-15process has finished cleanly [pid 8375] ×2 + 13.66sINFOweb_bridge-19process has finished cleanly [pid 8379] ×2 + 13.66sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.90sINFOros2_control_node-1process has finished cleanly [pid 8318] ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 12 warnings · 203 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920648 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920648 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792305144.10136819 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.69sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.69sINFOobjective_server_nodecaller: ×6 + 3.69sINFOobjective_server_nodetype: 0 ×6 + 3.69sINFOobjective_server_nodename: "" ×6 + 3.69sINFOobjective_server_nodeinstance_id: "" ×6 + 3.69sINFOobjective_server_node ×6 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809695 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809695 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1792305144.78591943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.97sINFOros2_control_node[2026-10-18 06:32:24.920] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-10-18 06:32:24.920] [info] Accepted new action goal ×2 + 6.46sINFOros2_control_node[2026-10-18 06:32:27.415] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-10-18 06:32:27.415] [info] Accepted new action goal ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149366 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149366 ms (missed cycles : 2).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792305155.98638153 seconds ×3 + 15.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.58sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792305156.58646441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.68sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.68sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470275 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470275 ms (missed cycles : 3).[0m ×2 + 15.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792305156.65660691 seconds ×3 + 16.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.44sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.50sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.62sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 16.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.63sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 16.63sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 18.63sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.5s | 15 warnings · 220 info |
+ 0.00sINFOobjective_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 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689694 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689694 ms (missed cycles : 2).[0m ×2 + 0.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.90sINFOros2_control_node[2026-10-18 06:33:22.310] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-10-18 06:33:22.310] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792305203.46519446 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082616 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082616 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792305204.24803138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.89sINFOros2_control_node[2026-10-18 06:33:25.293] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-10-18 06:33:25.293] [info] Accepted new action goal ×2 + 7.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 7.58sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.58sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.58sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.59sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685666 ms (missed cycles : 2). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685666 ms (missed cycles : 2).[0m ×2 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 10.02sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.03sINFOros2_control_node[2026-10-18 06:33:31.435] [info] Received new action goal ×2 + 10.03sINFOros2_control_node[2026-10-18 06:33:31.435] [info] Accepted new action goal ×2 + 13.63sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792305215.04014659 seconds ×3 + 14.17sINFOobjective_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: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792305215.65324306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.40sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 14.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.41sINFOros2_control_node[2026-10-18 06:33:35.817] [info] Received new action goal ×2 + 14.41sINFOros2_control_node[2026-10-18 06:33:35.817] [info] Accepted new action goal ×2 + 15.68sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.69sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803463 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803463 ms (missed cycles : 2).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793967 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793967 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 9 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 0.57sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.64sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.15sINFOros2_control_node[2026-10-18 06:30:59.701] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-10-18 06:30:59.701] [info] Accepted new action goal ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679432 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679432 ms (missed cycles : 2).[0m ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 9.80sINFOros2_control_node[2026-10-18 06:31:03.351] [info] Received new action goal ×2 + 9.80sINFOros2_control_node[2026-10-18 06:31:03.351] [info] Accepted new action goal ×2 + 13.11sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×4 + 13.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.13sINFOros2_control_node[2026-10-18 06:31:06.681] [info] Received new action goal ×2 + 13.13sINFOros2_control_node[2026-10-18 06:31:06.681] [info] Accepted new action goal ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694965 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694965 ms (missed cycles : 2).[0m ×2 + 13.99sINFOobjective_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 + 14.00sINFOros2_control_node[2026-10-18 06:31:07.546] [info] Got request to cancel active goal. ×2 + 14.00sINFOros2_control_node[2026-10-18 06:31:07.546] [info] Canceling active goal... ×2 + 14.02sERRORobjective_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: 1792305067.57307053 seconds ×3 + 14.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.56sINFOobjective_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: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792305068.22227144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sINFOros2_control_node[2026-10-18 06:31:08.466] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-10-18 06:31:08.466] [info] Accepted new action goal ×2 + 17.19sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 17.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.21sINFOros2_control_node[2026-10-18 06:31:10.756] [info] Received new action goal ×2 + 17.21sINFOros2_control_node[2026-10-18 06:31:10.756] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 14 warnings · 214 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1792305110.41112781 seconds ×3 + 0.30sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792305113.69678187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.79sINFOros2_control_node[2026-10-18 06:31:53.900] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-10-18 06:31:53.900] [info] Accepted new action goal ×2 + 4.01sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904817 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904817 ms (missed cycles : 3).[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003909 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003909 ms (missed cycles : 2).[0m ×2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.69sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (6.17e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 5 iterations (0.00525947 s). ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938100 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938100 ms (missed cycles : 2).[0m ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×4 + 8.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.62sINFOros2_control_node[2026-10-18 06:31:58.735] [info] Received new action goal ×2 + 8.63sINFOros2_control_node[2026-10-18 06:31:58.735] [info] Accepted new action goal ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 11.16sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 11.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 11.30sINFOobjective_server_nodeFound path in 1 iterations (0.00315623 s). ×2 + 11.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.54sINFOros2_control_node[2026-10-18 06:32:01.653] [info] Received new action goal ×2 + 11.54sINFOros2_control_node[2026-10-18 06:32:01.653] [info] Accepted new action goal ×2 + 11.97sINFOros2_control_node[2026-10-18 06:32:02.085] [info] Received new action goal ×2 + 11.97sINFOros2_control_node[2026-10-18 06:32:02.085] [info] Accepted new action goal ×2 + 14.03sINFOobjective_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 + 14.04sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.04sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.04sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.04sERRORobjective_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: 1792305124.15045333 seconds ×3 + 14.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.75sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.88sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792305124.99222231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.90sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 15.92sINFOros2_control_node[2026-10-18 06:32:06.027] [info] Received new action goal ×2 + 15.92sINFOros2_control_node[2026-10-18 06:32:06.027] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.1s | 3 errors · 25 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2).[0m ×2 + 1.61sINFOobjective_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 + 1.61sERRORobjective_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: 1792305078.64308810 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.15sINFOobjective_server_nodecaller: ×8 + 2.16sINFOobjective_server_nodetype: 0 ×8 + 2.16sINFOobjective_server_nodename: "" ×8 + 2.16sINFOobjective_server_nodeinstance_id: "" ×8 + 2.16sINFOobjective_server_node ×8 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305079.24497819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305079.37511182 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305080.08584666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626352 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626352 ms (missed cycles : 4).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278600 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278600 ms (missed cycles : 2).[0m ×2 + 7.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.59sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.60sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (7.02e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 1 iterations (0.00412652 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.29sINFOros2_control_node[2026-10-18 06:31:25.317] [info] Received new action goal ×2 + 8.29sINFOros2_control_node[2026-10-18 06:31:25.317] [info] Accepted new action goal ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.720269 ms (missed cycles : 5). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.720269 ms (missed cycles : 5).[0m ×2 + 10.59sINFOros2_control_node[2026-10-18 06:31:27.620] [info] Received new action goal ×2 + 10.59sINFOros2_control_node[2026-10-18 06:31:27.620] [info] Accepted new action goal ×2 + 12.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.25sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Received new action goal ×2 + 12.25sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Accepted new action goal ×2 + 13.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305090.57774138 seconds ×3 + 14.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.08sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305091.20715427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305091.25728130 seconds ×3 + 14.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.83sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.90sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305091.93093061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 15.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.02sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 28 warnings · 204 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×4 + 0.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.11sINFOros2_control_node[2026-10-18 06:31:06.681] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-18 06:31:06.681] [info] Accepted new action goal ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694965 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694965 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_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 + 0.98sINFOros2_control_node[2026-10-18 06:31:07.546] [info] Got request to cancel active goal. ×2 + 0.98sINFOros2_control_node[2026-10-18 06:31:07.546] [info] Canceling active goal... ×2 + 1.01sERRORobjective_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: 1792305067.57307053 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.54sINFOobjective_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: ""
+ 1.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.54sINFOobjective_server_nodecaller: ×6 + 1.54sINFOobjective_server_nodetype: 0 ×6 + 1.55sINFOobjective_server_nodename: "" ×6 + 1.55sINFOobjective_server_nodeinstance_id: "" ×6 + 1.55sINFOobjective_server_node ×6 + 1.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792305068.22227144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.90sINFOros2_control_node[2026-10-18 06:31:08.466] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-10-18 06:31:08.466] [info] Accepted new action goal ×2 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.19sINFOros2_control_node[2026-10-18 06:31:10.756] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-10-18 06:31:10.756] [info] Accepted new action goal ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532904 ms (missed cycles : 6). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532904 ms (missed cycles : 6).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544026 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544026 ms (missed cycles : 2).[0m ×2 + 8.43sWARNros2_control_nodeCamera render tick took 1.60 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 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316509 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316509 ms (missed cycles : 2).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2).[0m ×2 + 11.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2).[0m ×2 + 12.08sERRORobjective_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: 1792305078.64308810 seconds ×3 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2).[0m ×2 + 12.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.62sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305079.24497819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305079.37511182 seconds ×3 + 13.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.45sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305080.08584666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.72sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 13.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.73sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Received new action goal ×2 + 13.73sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Accepted new action goal ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 3 errors · 26 warnings · 410 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.62sINFOobjective_server_nodecaller: ×14 + 0.62sINFOobjective_server_nodetype: 0 ×14 + 0.62sINFOobjective_server_nodename: "" ×14 + 0.62sINFOobjective_server_nodeinstance_id: "" ×14 + 0.62sINFOobjective_server_node ×14 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_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 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.67sINFOros2_control_node[2026-10-18 06:36:05.673] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-10-18 06:36:05.673] [info] Accepted new action goal ×2 + 5.68sINFOros2_control_node[2026-10-18 06:36:05.673] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829981 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829981 ms (missed cycles : 2).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2).[0m ×2 + 12.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.55sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Got request to cancel active goal. ×2 + 12.55sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Canceling active goal... ×2 + 12.56sERRORobjective_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: 1792305372.55390215 seconds ×3 + 13.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.10sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305373.16045761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4).[0m ×2 + 13.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305373.93061543 seconds ×3 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4).[0m ×2 + 14.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 14.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305374.54523230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.55sINFOobjective_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 + 14.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305374.54809475 seconds ×3 + 14.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 15.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.09sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305375.15026522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305375.17100358 seconds ×3 + 15.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 15.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305375.86827826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 23 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.64sINFOobjective_server_nodecaller: ×4 + 2.64sINFOobjective_server_nodetype: 0 ×4 + 2.64sINFOobjective_server_nodename: "" ×4 + 2.64sINFOobjective_server_nodeinstance_id: "" ×4 + 2.64sINFOobjective_server_node ×4 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773124 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773124 ms (missed cycles : 5).[0m ×2 + 6.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.61sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.90sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 6.94sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.06sINFOobjective_server_nodeFound path in 5 iterations (0.00545994 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 7.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.729115 ms (missed cycles : 8). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.729115 ms (missed cycles : 8).[0m ×2 + 7.54sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.59sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.85sINFOros2_control_node[2026-10-18 06:31:47.846] [info] Received new action goal ×2 + 7.85sINFOros2_control_node[2026-10-18 06:31:47.846] [info] Accepted new action goal ×2 + 10.12sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.38sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.38sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.39sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1792305110.41112781 seconds ×3 + 10.42sINFOobjective_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 + 13.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.61sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.70sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792305113.69678187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 13.91sINFOros2_control_node[2026-10-18 06:31:53.900] [info] Received new action goal ×2 + 13.91sINFOros2_control_node[2026-10-18 06:31:53.900] [info] Accepted new action goal ×2 + 14.13sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904817 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904817 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 3 warnings · 145 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 + 13.63sERRORobjective_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: 1792305303.54814219 seconds ×3 + 14.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.20sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.27sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792305304.19684243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 14.57sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.58sINFOros2_control_node[2026-10-18 06:35:04.506] [info] Received new action goal ×2 + 14.58sINFOros2_control_node[2026-10-18 06:35:04.506] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 12 warnings · 128 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792305314.10888076 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720185 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720185 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.55sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.55sINFOobjective_server_nodecaller: ×4 + 0.55sINFOobjective_server_nodetype: 0 ×4 + 0.55sINFOobjective_server_nodename: "" ×4 + 0.55sINFOobjective_server_nodeinstance_id: "" ×4 + 0.55sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792305314.72911024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-10-18 06:35:14.854] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-10-18 06:35:14.855] [info] Accepted new action goal ×2 + 2.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838270 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838270 ms (missed cycles : 2).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692919 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692919 ms (missed cycles : 2).[0m ×2 + 10.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.94sERRORobjective_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: 1792305325.04945707 seconds ×3 + 11.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.48sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739836 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739836 ms (missed cycles : 2).[0m ×2 + 11.57sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792305325.67806268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.59sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 12.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.60sINFOros2_control_node[2026-10-18 06:35:26.712] [info] Received new action goal ×2 + 12.60sINFOros2_control_node[2026-10-18 06:35:26.712] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 29 warnings · 2331 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×355 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×355 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×710 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×710 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305281.68132639 seconds ×3 + 3.39sINFOjoint_trajectory_controllerGot request to cancel goal + 3.39sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.39sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.39sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.02sINFOobjective_server_nodecaller: ×4 + 4.02sINFOobjective_server_nodetype: 0 ×4 + 4.02sINFOobjective_server_nodename: "" ×4 + 4.02sINFOobjective_server_nodeinstance_id: "" ×4 + 4.02sINFOobjective_server_node ×4 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305282.43068862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961502 ms (missed cycles : 5). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961502 ms (missed cycles : 5).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781309 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781309 ms (missed cycles : 2).[0m ×2 + 8.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 8.57sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.57sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.58sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (6.93e-07 s). ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.06sINFOobjective_server_nodeFound path in 1 iterations (0.00502994 s). ×2 + 9.24sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.30sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.32sINFOros2_control_node[2026-10-18 06:34:47.619] [info] Received new action goal ×2 + 9.32sINFOros2_control_node[2026-10-18 06:34:47.619] [info] Accepted new action goal ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045565 ms (missed cycles : 4). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045565 ms (missed cycles : 4).[0m ×2 + 11.62sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 11.62sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 13.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.26sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 13.26sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 14.24sINFOobjective_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 + 14.25sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 14.25sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 14.27sERRORobjective_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: 1792305292.56688643 seconds ×3 + 14.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.84sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.94sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 15.12sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 15.12sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 15.83sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.03sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 9 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305090.57774138 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.20sINFOobjective_server_nodecaller: ×6 + 2.20sINFOobjective_server_nodetype: 0 ×6 + 2.20sINFOobjective_server_nodename: "" ×6 + 2.20sINFOobjective_server_nodeinstance_id: "" ×6 + 2.20sINFOobjective_server_node ×6 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305091.20715427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305091.25728130 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305091.93093061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Accepted new action goal ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.48sINFOros2_control_node[2026-10-18 06:31:35.405] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-10-18 06:31:35.405] [info] Accepted new action goal ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.82sINFOros2_control_node[2026-10-18 06:31:37.743] [info] Received new action goal ×2 + 8.82sINFOros2_control_node[2026-10-18 06:31:37.743] [info] Accepted new action goal ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 11.17sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 11.17sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 13.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.12sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 13.12sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 13.13sERRORobjective_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: 1792305102.05449986 seconds ×3 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 13.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.71sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 13.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.98sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 13.98sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 9 warnings · 129 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 + 0.01sERRORobjective_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: 1792305303.54814219 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.58sINFOobjective_server_nodecaller: ×4 + 0.58sINFOobjective_server_nodetype: 0 ×4 + 0.58sINFOobjective_server_nodename: "" ×4 + 0.58sINFOobjective_server_nodeinstance_id: "" ×4 + 0.58sINFOobjective_server_node ×4 + 0.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792305304.19684243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.94sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.97sINFOros2_control_node[2026-10-18 06:35:04.506] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-10-18 06:35:04.506] [info] Accepted new action goal ×2 + 4.98sINFOros2_control_node[2026-10-18 06:35:08.524] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-10-18 06:35:08.524] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761715 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761715 ms (missed cycles : 2).[0m ×2 + 10.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792305314.10888076 seconds ×3 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720185 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720185 ms (missed cycles : 2).[0m ×2 + 11.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.11sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 11.19sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792305314.72911024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.31sINFOros2_control_node[2026-10-18 06:35:14.854] [info] Received new action goal ×2 + 11.31sINFOros2_control_node[2026-10-18 06:35:14.855] [info] Accepted new action goal ×2 + 13.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838270 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838270 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 6 warnings · 205 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792305155.98638153 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.54sINFOobjective_server_nodecaller: ×6 + 0.54sINFOobjective_server_nodetype: 0 ×6 + 0.54sINFOobjective_server_nodename: "" ×6 + 0.54sINFOobjective_server_nodeinstance_id: "" ×6 + 0.54sINFOobjective_server_node ×6 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792305156.58646441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470275 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470275 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792305156.65660691 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.59sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 1.59sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 5.23sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305161.21280098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.31sINFOobjective_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 + 5.32sINFOobjective_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.63sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Received new action goal ×2 + 5.63sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305052.03370047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305052.04392862 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 3 errors · 20 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_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 + 1.55sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Got request to cancel active goal. ×2 + 1.56sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Canceling active goal... ×2 + 1.56sERRORobjective_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: 1792305372.55390215 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.11sINFOobjective_server_nodecaller: ×8 + 2.11sINFOobjective_server_nodetype: 0 ×8 + 2.11sINFOobjective_server_nodename: "" ×8 + 2.11sINFOobjective_server_nodeinstance_id: "" ×8 + 2.11sINFOobjective_server_node ×8 + 2.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305373.16045761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305373.93061543 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305374.54523230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.55sINFOobjective_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 + 3.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305374.54809475 seconds ×3 + 3.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305375.15026522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305375.17100358 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305375.86827826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505249 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505249 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.9s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_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 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316509 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316509 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_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 + 2.62sERRORobjective_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: 1792305078.64308810 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ 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 1.738414 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305079.24497819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305079.37511182 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305080.08584666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 125 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:31:27.620] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:31:27.620] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Accepted new action goal ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305090.57774138 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305091.20715427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305091.25728130 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305091.93093061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.44sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 3 warnings · 138 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792305155.98638153 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792305156.58646441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470275 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470275 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792305156.65660691 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.59sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 1.59sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305052.03370047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305052.04392862 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_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 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 21 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_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 + 1.55sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Got request to cancel active goal. ×2 + 1.56sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Canceling active goal... ×2 + 1.56sERRORobjective_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: 1792305372.55390215 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.11sINFOobjective_server_nodecaller: ×8 + 2.11sINFOobjective_server_nodetype: 0 ×8 + 2.11sINFOobjective_server_nodename: "" ×8 + 2.11sINFOobjective_server_nodeinstance_id: "" ×8 + 2.11sINFOobjective_server_node ×8 + 2.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305373.16045761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305373.93061543 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305374.54523230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.55sINFOobjective_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 + 3.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305374.54809475 seconds ×3 + 3.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305375.15026522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305375.17100358 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305375.86827826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505249 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505249 ms (missed cycles : 3).[0m ×2 + 7.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792305378.12840223 seconds ×3 + 7.17sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076302 ms (missed cycles : 2). | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 20 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_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 + 1.55sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Got request to cancel active goal. ×2 + 1.56sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Canceling active goal... ×2 + 1.56sERRORobjective_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: 1792305372.55390215 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.11sINFOobjective_server_nodecaller: ×8 + 2.11sINFOobjective_server_nodetype: 0 ×8 + 2.11sINFOobjective_server_nodename: "" ×8 + 2.11sINFOobjective_server_nodeinstance_id: "" ×8 + 2.11sINFOobjective_server_node ×8 + 2.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305373.16045761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305373.93061543 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305374.54523230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.55sINFOobjective_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 + 3.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305374.54809475 seconds ×3 + 3.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305375.15026522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305375.17100358 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305375.86827826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505249 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505249 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.1s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305090.57774138 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305091.20715427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305091.25728130 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305091.93093061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Accepted new action goal ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 3 warnings · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_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 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2).[0m ×2 + 1.61sINFOobjective_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 + 1.61sERRORobjective_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: 1792305078.64308810 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305079.24497819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305079.37511182 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305080.08584666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 15 warnings · 2215 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×355 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×355 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×710 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×710 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305281.68132639 seconds ×3 + 3.39sINFOjoint_trajectory_controllerGot request to cancel goal + 3.39sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.39sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.39sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.02sINFOobjective_server_nodecaller: ×2 + 4.02sINFOobjective_server_nodetype: 0 ×2 + 4.02sINFOobjective_server_nodename: "" ×2 + 4.02sINFOobjective_server_nodeinstance_id: "" ×2 + 4.02sINFOobjective_server_node ×2 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305282.43068862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316509 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316509 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_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 + 2.62sERRORobjective_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: 1792305078.64308810 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ 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 1.738414 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305079.24497819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305079.37511182 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305080.08584666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 17 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316509 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316509 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_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 + 2.62sERRORobjective_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: 1792305078.64308810 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ 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 1.738414 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305079.24497819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305079.37511182 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305080.08584666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Accepted new action goal ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2).[0m ×2 + 1.61sINFOobjective_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 + 1.61sERRORobjective_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: 1792305078.64308810 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305079.24497819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305079.37511182 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305080.08584666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2).[0m ×2 + 1.61sINFOobjective_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 + 1.61sERRORobjective_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: 1792305078.64308810 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305079.24497819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305079.37511182 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305080.08584666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 14 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819567 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959129 ms (missed cycles : 2).[0m ×2 + 1.61sINFOobjective_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 + 1.61sERRORobjective_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: 1792305078.64308810 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738414 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305079.24497819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305079.37511182 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305080.08584666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-10-18 06:31:20.300] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362860 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305090.57774138 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305091.20715427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305091.25728130 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305091.93093061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Accepted new action goal ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305090.57774138 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305091.20715427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305091.25728130 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305091.93093061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Accepted new action goal ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305090.57774138 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305091.20715427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305091.25728130 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305091.93093061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Accepted new action goal ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-10-18 06:31:29.281] [info] Accepted new action goal ×2 + 1.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305090.57774138 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.20sINFOobjective_server_nodecaller: ×4 + 2.20sINFOobjective_server_nodetype: 0 ×4 + 2.20sINFOobjective_server_nodename: "" ×4 + 2.20sINFOobjective_server_nodeinstance_id: "" ×4 + 2.20sINFOobjective_server_node ×4 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305091.20715427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305091.25728130 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305091.93093061 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-10-18 06:31:32.055] [info] Accepted new action goal ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 9 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-10-18 06:31:40.093] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354942 ms (missed cycles : 3).[0m ×2 + 2.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-10-18 06:31:42.041] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1792305102.05449986 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352717 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305102.70902681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 2.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Received new action goal ×2 + 2.91sINFOros2_control_node[2026-10-18 06:31:42.903] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 100 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00315623 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-10-18 06:32:01.653] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-10-18 06:32:01.653] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-10-18 06:32:02.085] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-10-18 06:32:02.085] [info] Accepted new action goal ×2 + 2.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.88sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.88sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.88sERRORobjective_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: 1792305124.15045333 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792305124.99222231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.76sINFOros2_control_node[2026-10-18 06:32:06.027] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-10-18 06:32:06.027] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 3 warnings · 138 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792305155.98638153 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.54sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.54sINFOobjective_server_nodecaller: ×4 + 0.54sINFOobjective_server_nodetype: 0 ×4 + 0.54sINFOobjective_server_nodename: "" ×4 + 0.54sINFOobjective_server_nodeinstance_id: "" ×4 + 0.54sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792305156.58646441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470275 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470275 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792305156.65660691 seconds ×3 + 1.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.47sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.59sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 1.59sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305161.21280098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305161.21280098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305161.21280098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305161.21280098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305161.21280098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305161.21280098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 3 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305157.45486450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-10-18 06:32:37.579] [info] Accepted new action goal ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305159.58500648 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305161.21280098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294286 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:32:41.620] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 6 warnings · 84 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792305215.04014659 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.54sINFOobjective_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: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.54sINFOobjective_server_nodecaller: ×2 + 0.54sINFOobjective_server_nodetype: 0 ×2 + 0.54sINFOobjective_server_nodename: "" ×2 + 0.54sINFOobjective_server_nodeinstance_id: "" ×2 + 0.54sINFOobjective_server_node ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792305215.65324306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.78sINFOros2_control_node[2026-10-18 06:33:35.817] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-10-18 06:33:35.817] [info] Accepted new action goal ×2 + 2.04sINFOobjective_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 + 2.05sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_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 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803463 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803463 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793967 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793967 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 15 warnings · 2215 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×355 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×355 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×710 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×710 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305281.68132639 seconds ×3 + 3.39sINFOjoint_trajectory_controllerGot request to cancel goal + 3.39sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.39sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.39sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.02sINFOobjective_server_nodecaller: ×2 + 4.02sINFOobjective_server_nodetype: 0 ×2 + 4.02sINFOobjective_server_nodename: "" ×2 + 4.02sINFOobjective_server_nodeinstance_id: "" ×2 + 4.02sINFOobjective_server_node ×2 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305282.43068862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 15 warnings · 2215 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×355 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×355 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×710 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×710 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305281.68132639 seconds ×3 + 3.39sINFOjoint_trajectory_controllerGot request to cancel goal + 3.39sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.39sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.39sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.02sINFOobjective_server_nodecaller: ×2 + 4.02sINFOobjective_server_nodetype: 0 ×2 + 4.02sINFOobjective_server_nodename: "" ×2 + 4.02sINFOobjective_server_nodeinstance_id: "" ×2 + 4.02sINFOobjective_server_node ×2 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305282.43068862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 15 warnings · 2215 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×355 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×355 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×710 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×710 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305281.68132639 seconds ×3 + 3.39sINFOjoint_trajectory_controllerGot request to cancel goal + 3.39sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.39sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.39sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.02sINFOobjective_server_nodecaller: ×2 + 4.02sINFOobjective_server_nodetype: 0 ×2 + 4.02sINFOobjective_server_nodename: "" ×2 + 4.02sINFOobjective_server_nodeinstance_id: "" ×2 + 4.02sINFOobjective_server_node ×2 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305282.43068862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 15 warnings · 2215 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×355 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×355 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×710 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×710 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918608 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673116 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785090 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305281.68132639 seconds ×3 + 3.39sINFOjoint_trajectory_controllerGot request to cancel goal + 3.39sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.39sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.39sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981954 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_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: ""
+ 4.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.02sINFOobjective_server_nodecaller: ×2 + 4.02sINFOobjective_server_nodetype: 0 ×2 + 4.02sINFOobjective_server_nodename: "" ×2 + 4.02sINFOobjective_server_nodeinstance_id: "" ×2 + 4.02sINFOobjective_server_node ×2 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305282.43068862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-18 06:34:42.665] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672545 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 3 errors · 3 warnings · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_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 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 3 warnings · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_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 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 3 warnings · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_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 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 3 warnings · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_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 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 3 warnings · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_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 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 3 warnings · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_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 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 3 warnings · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_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 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 3 warnings · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_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 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 3 warnings · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:34:49.922] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-10-18 06:34:51.555] [info] Accepted new action goal ×2 + 2.62sINFOobjective_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 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.550] [info] Got request to cancel active goal. ×2 + 2.63sINFOros2_control_node[2026-10-18 06:34:52.551] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1792305292.56688643 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305293.23749375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-10-18 06:34:53.421] [info] Accepted new action goal ×2 + 4.21sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745099 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 61 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 + 0.01sERRORobjective_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: 1792305303.54814219 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.58sINFOobjective_server_nodecaller: ×2 + 0.58sINFOobjective_server_nodetype: 0 ×2 + 0.58sINFOobjective_server_nodename: "" ×2 + 0.58sINFOobjective_server_nodeinstance_id: "" ×2 + 0.58sINFOobjective_server_node ×2 + 0.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792305304.19684243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.94sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.97sINFOros2_control_node[2026-10-18 06:35:04.506] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-10-18 06:35:04.506] [info] Accepted new action goal ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 6 warnings · 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792305314.10888076 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720185 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720185 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.55sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.55sINFOobjective_server_nodecaller: ×2 + 0.55sINFOobjective_server_nodetype: 0 ×2 + 0.55sINFOobjective_server_nodename: "" ×2 + 0.55sINFOobjective_server_nodeinstance_id: "" ×2 + 0.55sINFOobjective_server_node ×2 + 0.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792305314.72911024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.75sINFOros2_control_node[2026-10-18 06:35:14.854] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-10-18 06:35:14.855] [info] Accepted new action goal ×2 + 2.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838270 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838270 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 3 warnings · 64 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 + 0.01sERRORobjective_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: 1792305325.04945707 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.55sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.55sINFOobjective_server_nodecaller: ×2 + 0.55sINFOobjective_server_nodetype: 0 ×2 + 0.55sINFOobjective_server_nodename: "" ×2 + 0.55sINFOobjective_server_nodeinstance_id: "" ×2 + 0.55sINFOobjective_server_node ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739836 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739836 ms (missed cycles : 2).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792305325.67806268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.66sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.67sINFOros2_control_node[2026-10-18 06:35:26.712] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-10-18 06:35:26.712] [info] Accepted new action goal ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 6 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_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 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 6 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_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 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 6 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_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 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_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 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_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 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_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 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 6 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305359.99866486 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.62sINFOobjective_server_nodecaller: ×6 + 0.62sINFOobjective_server_nodetype: 0 ×6 + 0.62sINFOobjective_server_nodename: "" ×6 + 0.62sINFOobjective_server_nodeinstance_id: "" ×6 + 0.62sINFOobjective_server_node ×6 + 0.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305360.86831713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.89sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436839 ms (missed cycles : 3).[0m ×2 + 0.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305360.92843699 seconds ×3 + 1.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305361.53052974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_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 + 1.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305361.55393529 seconds ×3 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305362.23877954 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-10-18 06:36:02.353] [info] Accepted new action goal ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778928 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 17 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_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 + 1.55sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Got request to cancel active goal. ×2 + 1.56sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Canceling active goal... ×2 + 1.56sERRORobjective_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: 1792305372.55390215 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.11sINFOobjective_server_nodecaller: ×8 + 2.11sINFOobjective_server_nodetype: 0 ×8 + 2.11sINFOobjective_server_nodename: "" ×8 + 2.11sINFOobjective_server_nodeinstance_id: "" ×8 + 2.11sINFOobjective_server_node ×8 + 2.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305373.16045761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305373.93061543 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305374.54523230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.55sINFOobjective_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 + 3.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305374.54809475 seconds ×3 + 3.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305375.15026522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305375.17100358 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305375.86827826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 17 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913928 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_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 + 1.55sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Got request to cancel active goal. ×2 + 1.56sINFOros2_control_node[2026-10-18 06:36:12.549] [info] Canceling active goal... ×2 + 1.56sERRORobjective_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: 1792305372.55390215 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.10sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.11sINFOobjective_server_nodecaller: ×8 + 2.11sINFOobjective_server_nodetype: 0 ×8 + 2.11sINFOobjective_server_nodename: "" ×8 + 2.11sINFOobjective_server_nodeinstance_id: "" ×8 + 2.11sINFOobjective_server_node ×8 + 2.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305373.16045761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407782 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305373.93061543 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769211 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305374.54523230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.55sINFOobjective_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 + 3.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305374.54809475 seconds ×3 + 3.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305375.15026522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305375.17100358 seconds ×3 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305375.86827826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319251 ms (missed cycles : 3).[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 | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 12.5s | 32 warnings · 767 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-18-06-30-39-506999-4bcd63ffea81-8270 ×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. + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755485 ms (missed cycles : 3). + 0.90sINFOros2_control_node-1process started with pid [8318] ×2 + 0.90sINFOmove_group-9process started with pid [8369] ×2 + 0.90sINFOparameter_manager_node-10process started with pid [8370] ×2 + 0.90sINFOwaypoint_manager_node-11process started with pid [8371] ×2 + 0.90sINFOmove_joint_resampler_node-12process started with pid [8372] ×2 + 0.90sINFOmove_end_effector_resampler_node-13process started with pid [8373] ×2 + 0.90sINFOobjective_server_node_main-14process started with pid [8374] ×2 + 0.90sINFOcomponent_container_mt-15process started with pid [8375] ×2 + 0.92sINFOcomponent_container_mt-16process started with pid [8376] ×2 + 0.92sINFOexecute_objective_bridge-17process started with pid [8377] ×2 + 0.92sINFOui_teleop_bridge-18process started with pid [8378] ×2 + 0.92sINFOweb_bridge-19process started with pid [8379] ×2 + 0.92sINFOtf_visualization_relay-20process started with pid [8432] ×2 + 0.92sINFOjoint_state_visualization_relay-21process started with pid [8437] ×2 + 0.92sINFOtf2_web_republisher_node-22process started with pid [8440] ×2 + 0.92sINFOvideo_server-23process started with pid [8441] ×2 + 0.92sINFOweb_bridge_auth_proxy-24process started with pid [8442] ×2 + 0.92sINFOweb_video_auth_proxy-25process started with pid [8443] ×2 + 0.93sINFOros2-2process started with pid [8319] ×2 + 0.93sINFOros2-3process started with pid [8320] ×2 + 0.93sINFOros2-4process started with pid [8321] ×2 + 0.93sINFOros2-5process started with pid [8322] ×2 + 0.93sINFOros2-6process started with pid [8323] ×2 + 0.93sINFOros2-7process started with pid [8324] ×2 + 0.93sINFOros2-8process started with pid [8325] ×2 + 0.95sINFOcontroller_managerReceived robot description from topic. + 0.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_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 3.755485 ms (missed cycles : 3).[0m ×2 + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.98sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.21sINFOvideo_server2026/10/18 06:30:41 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.21sINFOvideo_server2026/10/18 06:30:41 INF configuration loaded from /tmp/moveit-webrtc-1vxn6cqd/mediamtx.yml ×2 + 1.21sINFOvideo_server2026/10/18 06:30:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.21sINFOvideo_server2026/10/18 06:30:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.77sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.77sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.11sINFOweb_bridge_auth_proxy2026-10-18 06:30:41,961 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.11sINFOweb_bridge_auth_proxy2026-10-18 06:30:41,963 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.11sINFOweb_video_auth_proxy2026-10-18 06:30:41,966 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.17sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.17sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.17sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.17sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.19sINFOros2_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 + 2.19sINFOros2_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 + 2.19sINFOmove_group[2026-10-18 06:30:42.049] [moveit_pro_license] [info] ×2 + 2.19sINFOmove_group************************************************* ×4 + 2.19sINFOmove_group* MoveIt Pro License ×2 + 2.19sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.32sINFOwaypoint_manager_node[2026-10-18 06:30:42.173] [moveit_pro_license] [info] ×2 + 2.32sINFOwaypoint_manager_node************************************************* ×4 + 2.32sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.32sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683738 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683738 ms (missed cycles : 2).[0m ×2 + 2.42sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.55sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.64sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.65sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.65sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.82sINFOmove_group ×4 + 2.82sINFOmove_group[92mYou can start planning now![0m ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.53sINFOobjective_server_node[2026-10-18 06:30:43.387] [moveit_pro_license] [info] ×2 + 3.53sINFOobjective_server_node************************************************* ×4 + 3.53sINFOobjective_server_node* MoveIt Pro License ×2 + 3.53sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.67sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.67sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.69sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.69sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.02sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.02sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.24sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.24sINFOros2_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 + 4.24sWARNros2_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 + 4.24sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.24sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.24sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.24sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.24sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.24sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.24sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.24sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.24sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.24sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.24sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.24sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.24sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.24sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.24sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.24sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.24sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.24sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.24sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.24sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.24sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.24sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.24sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.24sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.24sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.24sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.24sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.24sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.27sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.27sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.27sINFOcomponent_container_mt[2026-10-18 06:30:44.128] [moveit_pro_license] [info] ×2 + 4.27sINFOcomponent_container_mt************************************************* ×4 + 4.27sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.27sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.39sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir + 4.39sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir [0m ×2 + 4.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.41sINFOros2_control_node[2026-10-18 06:30:44.266] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.41sINFOros2_control_node[2026-10-18 06:30:44.266] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.44sINFOros2_control_node[2026-10-18 06:30:44.297] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.44sINFOros2_control_node[2026-10-18 06:30:44.297] [info] Controller state will be published at 50 Hz. ×2 + 4.45sINFOros2_control_node[2026-10-18 06:30:44.309] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.72sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.72sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.72sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.72sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.74sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.74sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.74sINFOros2-6process has finished cleanly [pid 8323] ×2 + 4.81sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir + 4.81sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir [0m ×2 + 4.84sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 4.84sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.84sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.85sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.85sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.85sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.85sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.88sINFOros2_control_node[2026-10-18 06:30:44.735] [info] Controller state will be published at 10 Hz. ×2 + 4.88sINFOros2_control_node[2026-10-18 06:30:44.736] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.23sINFOros2-7process has finished cleanly [pid 8324] ×2 + 5.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir + 5.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir [0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584588 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584588 ms (missed cycles : 3).[0m ×2 + 5.29sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.29sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.29sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.30sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.32sINFOros2_control_node[2026-10-18 06:30:45.176] [info] Controller state will be published at 20 Hz. ×2 + 5.32sINFOros2_control_node[2026-10-18 06:30:45.177] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.63sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.63sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.63sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.63sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.64sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir + 5.64sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir [0m ×2 + 5.65sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.68sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.68sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.68sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.68sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.68sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.69sINFOcontroller_managerSuccessfully switched controllers! ×16 + 5.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 5.69sINFOros2-8process has finished cleanly [pid 8325] ×2 + 5.69sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.69sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.99sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.99sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.99sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir + 6.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir [0m ×2 + 6.02sINFOros2-3process has finished cleanly [pid 8320] ×2 + 6.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.05sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir + 6.39sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir [0m ×2 + 6.40sINFOros2-4process has finished cleanly [pid 8321] ×2 + 6.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.43sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.44sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.44sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.44sINFOforce_torque_sensor_broadcasterconfigure successful + 6.44sINFOros2_control_nodeconfigure successful[0m ×2 + 6.44sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.45sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.45sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.62sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054204 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054204 ms (missed cycles : 2).[0m ×2 + 6.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.77sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir + 6.77sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9j8m2287 --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_9yd5dlda --params-file /tmp/launch_params_ueq48sir [0m ×2 + 6.82sINFOros2-2process has finished cleanly [pid 8319] ×2 + 6.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.84sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.84sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.84sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.84sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.85sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.85sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.14sINFOros2-5process has finished cleanly [pid 8322] ×2 + 8.67sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746318 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746318 ms (missed cycles : 2).[0m ×2 + 11.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 11.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 11.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 11.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 11.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 11.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 11.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2).[0m ×2 + 12.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.12sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 12.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 12.12sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 12.12sINFOobjective_server_nodeparameter_overrides: [] ×10 + 12.12sINFOobjective_server_nodecaller: ×10 + 12.12sINFOobjective_server_nodetype: 0 ×10 + 12.12sINFOobjective_server_nodename: "" ×10 + 12.12sINFOobjective_server_nodeinstance_id: "" ×10 + 12.12sINFOobjective_server_node ×10 + 12.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305052.03370047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305052.04392862 seconds ×3 + 12.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.73sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 12.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 12.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 13.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 14.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.26sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 14.27sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 seconds ×3 + 14.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 15.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 15.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 15.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 6 warnings · 389 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2).[0m ×2 + 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 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305052.03370047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305052.04392862 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.23sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.30sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 7.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305052.03370047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305052.04392862 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 169 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/2026-10-18-06-30-39-506999-4bcd63ffea81-8270 ×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. + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755485 ms (missed cycles : 3). + 0.90sINFOros2_control_node-1process started with pid [8318] ×2 + 0.90sINFOmove_group-9process started with pid [8369] ×2 + 0.90sINFOparameter_manager_node-10process started with pid [8370] ×2 + 0.90sINFOwaypoint_manager_node-11process started with pid [8371] ×2 + 0.90sINFOmove_joint_resampler_node-12process started with pid [8372] ×2 + 0.90sINFOmove_end_effector_resampler_node-13process started with pid [8373] ×2 + 0.90sINFOobjective_server_node_main-14process started with pid [8374] ×2 + 0.90sINFOcomponent_container_mt-15process started with pid [8375] ×2 + 0.92sINFOcomponent_container_mt-16process started with pid [8376] ×2 + 0.92sINFOexecute_objective_bridge-17process started with pid [8377] ×2 + 0.92sINFOui_teleop_bridge-18process started with pid [8378] ×2 + 0.92sINFOweb_bridge-19process started with pid [8379] ×2 + 0.92sINFOtf_visualization_relay-20process started with pid [8432] ×2 + 0.92sINFOjoint_state_visualization_relay-21process started with pid [8437] ×2 + 0.92sINFOtf2_web_republisher_node-22process started with pid [8440] ×2 + 0.92sINFOvideo_server-23process started with pid [8441] ×2 + 0.92sINFOweb_bridge_auth_proxy-24process started with pid [8442] ×2 + 0.92sINFOweb_video_auth_proxy-25process started with pid [8443] ×2 + 0.93sINFOros2-2process started with pid [8319] ×2 + 0.93sINFOros2-3process started with pid [8320] ×2 + 0.93sINFOros2-4process started with pid [8321] ×2 + 0.93sINFOros2-5process started with pid [8322] ×2 + 0.93sINFOros2-6process started with pid [8323] ×2 + 0.93sINFOros2-7process started with pid [8324] ×2 + 0.93sINFOros2-8process started with pid [8325] ×2 + 0.95sINFOcontroller_managerReceived robot description from topic. + 0.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_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 3.755485 ms (missed cycles : 3).[0m ×2 + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.98sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.21sINFOvideo_server2026/10/18 06:30:41 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.21sINFOvideo_server2026/10/18 06:30:41 INF configuration loaded from /tmp/moveit-webrtc-1vxn6cqd/mediamtx.yml ×2 + 1.21sINFOvideo_server2026/10/18 06:30:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.21sINFOvideo_server2026/10/18 06:30:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.77sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.77sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.11sINFOweb_bridge_auth_proxy2026-10-18 06:30:41,961 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 2.11sINFOweb_bridge_auth_proxy2026-10-18 06:30:41,963 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 2.11sINFOweb_video_auth_proxy2026-10-18 06:30:41,966 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 2.17sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.17sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.17sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.17sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.19sINFOros2_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 + 2.19sINFOros2_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 + 2.19sINFOmove_group[2026-10-18 06:30:42.049] [moveit_pro_license] [info] ×2 + 2.19sINFOmove_group************************************************* ×4 + 2.19sINFOmove_group* MoveIt Pro License ×2 + 2.19sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.32sINFOwaypoint_manager_node[2026-10-18 06:30:42.173] [moveit_pro_license] [info] ×2 + 2.32sINFOwaypoint_manager_node************************************************* ×4 + 2.32sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.32sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683738 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683738 ms (missed cycles : 2).[0m ×2 + 2.42sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.55sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.64sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.65sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.65sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.82sINFOmove_group ×4 + 2.82sINFOmove_group[92mYou can start planning now![0m ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.53sINFOobjective_server_node[2026-10-18 06:30:43.387] [moveit_pro_license] [info] ×2 + 3.53sINFOobjective_server_node************************************************* ×4 + 3.53sINFOobjective_server_node* MoveIt Pro License ×2 + 3.53sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305052.03370047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305052.04392862 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305052.03370047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305052.04392862 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305052.03370047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305052.04392862 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 6 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305052.03370047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305052.04392862 seconds ×3 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 seconds ×3 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 6 warnings · 383 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752678 ms (missed cycles : 2).[0m ×2 + 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 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305052.03370047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305052.04392862 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.23sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 seconds ×3 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.30sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion15 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 3 warnings · 328 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.06sINFOros2_control_node[2026-10-18 06:30:59.701] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-10-18 06:30:59.701] [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 | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 warnings · 320 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305052.63938951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305053.54953146 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 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 + 1.48sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305054.17066693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305054.23081136 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 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305054.89309597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305054.91323113 seconds ×3 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305055.51450586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305055.66561890 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305056.35883617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360037 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305056.40896916 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305057.05609918 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.0715e-05 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-10-18 06:30:57.193] [info] Accepted new action goal ×2 + 6.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||