137
Total objective tests
34
Objectives passed
0
Objectives failed
103
Objectives skipped
10.3s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass61 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 111 warnings · 20934 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792305301.67729259 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 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 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 + 0.54sINFOobjective_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: 1792305302.28625131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 0.77sINFOros2_control_node[2026-10-18 06:35:02.450] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-10-18 06:35:02.450] [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 + 2.10sINFOobjective_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 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064668 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064668 ms (missed cycles : 2).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364273 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364273 ms (missed cycles : 2).[0m ×2 + 4.08sINFOjoint_trajectory_controllerReceived new action goal ×3445 + 4.08sINFOjoint_trajectory_controllerAccepted new action goal ×3445 + 4.08sINFOros2_control_nodeReceived new action goal[0m ×6890 + 4.09sINFOros2_control_nodeAccepted new action goal[0m ×6890 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397163 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397163 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692162 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692162 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832288 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832288 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498984 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498984 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772949 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772949 ms (missed cycles : 2).[0m ×2 + 9.11sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 9.11sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 9.11sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 9.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 9.11sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010134 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010134 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283870 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283870 ms (missed cycles : 2).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835567 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835567 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836503 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836503 ms (missed cycles : 2).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828581 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828581 ms (missed cycles : 2).[0m ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871944 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871944 ms (missed cycles : 2).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022524 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022524 ms (missed cycles : 2).[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031417 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031417 ms (missed cycles : 2).[0m ×2 + 19.27sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760626 ms (missed cycles : 2). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760626 ms (missed cycles : 2).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878887 ms (missed cycles : 2). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878887 ms (missed cycles : 2).[0m ×2 + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077902 ms (missed cycles : 2). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077902 ms (missed cycles : 2).[0m ×2 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840440 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840440 ms (missed cycles : 2).[0m ×2 + 24.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348212 ms (missed cycles : 2). + 24.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348212 ms (missed cycles : 2).[0m ×2 + 25.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123584 ms (missed cycles : 2). + 25.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123584 ms (missed cycles : 2).[0m ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838490 ms (missed cycles : 2). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838490 ms (missed cycles : 2).[0m ×2 + 28.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678423 ms (missed cycles : 2). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678423 ms (missed cycles : 2).[0m ×2 + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674195 ms (missed cycles : 2). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674195 ms (missed cycles : 2).[0m ×2 + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693042 ms (missed cycles : 2). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693042 ms (missed cycles : 2).[0m ×2 + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393025 ms (missed cycles : 2). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393025 ms (missed cycles : 2).[0m ×2 + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108747 ms (missed cycles : 2). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108747 ms (missed cycles : 2).[0m ×2 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677852 ms (missed cycles : 2). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677852 ms (missed cycles : 2).[0m ×2 + 35.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681398 ms (missed cycles : 2). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681398 ms (missed cycles : 2).[0m ×2 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613867 ms (missed cycles : 2). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613867 ms (missed cycles : 2).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097329 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097329 ms (missed cycles : 2).[0m ×2 + 40.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695353 ms (missed cycles : 2). + 40.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695353 ms (missed cycles : 2).[0m ×2 + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010124 ms (missed cycles : 2). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010124 ms (missed cycles : 2).[0m ×2 + 42.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819713 ms (missed cycles : 2). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819713 ms (missed cycles : 2).[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707777 ms (missed cycles : 3). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707777 ms (missed cycles : 3).[0m ×2 + 44.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305346.16823649 seconds ×3 + 44.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 44.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 44.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.04sINFOobjective_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: ""
+ 45.04sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 45.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792305346.81102276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 45.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 45.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 45.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 45.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 45.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 45.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 45.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.29sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 45.30sINFOros2_control_node[2026-10-18 06:35:46.975] [info] Received new action goal ×2 + 45.30sINFOros2_control_node[2026-10-18 06:35:46.975] [info] Accepted new action goal ×2 + 46.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821695 ms (missed cycles : 2). + 46.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821695 ms (missed cycles : 2).[0m ×2 + 47.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822130 ms (missed cycles : 2). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822130 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.9s | 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: 1792305244.08959842 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 (3.31e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305247.84973645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.83sINFOros2_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Accepted new action goal ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 7.10sINFOros2_control_node[2026-10-18 06:34:11.124] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-10-18 06:34:11.124] [info] Accepted new action goal ×2 + 10.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.24sINFOros2_control_node[2026-10-18 06:34:14.265] [info] Received new action goal ×2 + 10.24sINFOros2_control_node[2026-10-18 06:34:14.265] [info] Accepted new action goal ×2 + 13.20sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 13.21sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.25sINFOros2_control_node[2026-10-18 06:34:17.277] [info] Received new action goal ×2 + 13.25sINFOros2_control_node[2026-10-18 06:34:17.277] [info] Accepted new action goal ×2 + 16.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.20sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.21sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.21sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.21sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.92sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.78sINFOobjective_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 + 23.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.78sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.78sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.78sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.78sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.64sINFOros2_control_node[2026-10-18 06:34:28.668] [info] Received new action goal ×2 + 24.64sINFOros2_control_node[2026-10-18 06:34:28.668] [info] Accepted new action goal ×2 + 25.83sINFOobjective_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 + 25.84sINFOobjective_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 + 26.12sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 26.16sINFOros2_control_node[2026-10-18 06:34:30.191] [info] Received new action goal ×2 + 26.16sINFOros2_control_node[2026-10-18 06:34:30.191] [info] Accepted new action goal ×2 + 28.46sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 28.47sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.48sINFOros2_control_node[2026-10-18 06:34:32.509] [info] Received new action goal ×2 + 28.48sINFOros2_control_node[2026-10-18 06:34:32.509] [info] Accepted new action goal ×2 + 31.50sINFOros2_control_node[2026-10-18 06:34:35.529] [info] Received new action goal ×2 + 31.50sINFOros2_control_node[2026-10-18 06:34:35.529] [info] Accepted new action goal ×2 + 34.09sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 34.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.14sINFOros2_control_node[2026-10-18 06:34:38.172] [info] Received new action goal ×2 + 34.14sINFOros2_control_node[2026-10-18 06:34:38.172] [info] Accepted new action goal ×2 + 44.89sINFOros2_control_node[2026-10-18 06:34:48.921] [info] Received new action goal ×2 + 44.89sINFOros2_control_node[2026-10-18 06:34:48.921] [info] Accepted new action goal ×2 + 46.05sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792305290.07708549 seconds ×3 + 46.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.63sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.83sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792305290.85532475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.85sINFOobjective_server_nodeFound path in 0 iterations (6.43e-07 s). ×2 + 47.87sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.88sINFOros2_control_node[2026-10-18 06:34:51.910] [info] Received new action goal ×2 + 47.88sINFOros2_control_node[2026-10-18 06:34:51.910] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 34.5s | 3 errors · 25 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 + 0.00sERRORobjective_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: 1792305411.92028546 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.54sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.54sINFOobjective_server_nodecaller: ×8 + 0.54sINFOobjective_server_nodetype: 0 ×8 + 0.54sINFOobjective_server_nodename: "" ×8 + 0.54sINFOobjective_server_nodeinstance_id: "" ×8 + 0.54sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792305412.53829741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979032 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979032 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:53.573] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:53.573] [info] Accepted new action goal ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812530 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812530 ms (missed cycles : 2).[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061536 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061536 ms (missed cycles : 2).[0m ×2 + 5.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.15sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 6.17sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793846 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793846 ms (missed cycles : 2).[0m ×2 + 6.21sINFOros2_control_node[2026-10-18 06:36:58.129] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-10-18 06:36:58.129] [info] Accepted new action goal ×2 + 16.04sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 16.05sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 16.06sINFOros2_control_node[2026-10-18 06:37:07.972] [info] Received new action goal ×2 + 16.06sINFOros2_control_node[2026-10-18 06:37:07.972] [info] Accepted new action goal ×2 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383507 ms (missed cycles : 2). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383507 ms (missed cycles : 2).[0m ×2 + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696573 ms (missed cycles : 2). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696573 ms (missed cycles : 2).[0m ×2 + 20.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 21.28sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 21.30sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 21.34sINFOros2_control_node[2026-10-18 06:37:13.259] [info] Received new action goal ×2 + 21.34sINFOros2_control_node[2026-10-18 06:37:13.259] [info] Accepted new action goal ×2 + 29.03sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.72sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 30.72sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 30.74sINFOros2_control_node[2026-10-18 06:37:22.653] [info] Received new action goal ×2 + 30.74sINFOros2_control_node[2026-10-18 06:37:22.653] [info] Accepted new action goal ×2 + 34.52sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 seconds ×3 + 35.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 35.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.45sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.45sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 35.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 35.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 36.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 36.03sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 36.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.11sINFOobjective_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 + 36.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 seconds ×3 + 36.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 36.70sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 36.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.87sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 36.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 36.87sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 36.87sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 66 warnings · 14254 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4686 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010124 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010124 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819713 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819713 ms (missed cycles : 2).[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707777 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707777 ms (missed cycles : 3).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305346.16823649 seconds ×3 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.90sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.90sINFOobjective_server_nodecaller: ×4 + 3.90sINFOobjective_server_nodetype: 0 ×4 + 3.90sINFOobjective_server_nodename: "" ×4 + 3.90sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 3.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792305346.81102276 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.16sINFOros2_control_node[2026-10-18 06:35:46.975] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-10-18 06:35:46.975] [info] Accepted new action goal ×2 + 5.41sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.46sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821695 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821695 ms (missed cycles : 2).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822130 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822130 ms (missed cycles : 2).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374313 ms (missed cycles : 3). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374313 ms (missed cycles : 3).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763587 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763587 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351928 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351928 ms (missed cycles : 2).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720118 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720118 ms (missed cycles : 2).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009886 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009886 ms (missed cycles : 2).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803574 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803574 ms (missed cycles : 2).[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715044 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715044 ms (missed cycles : 2).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720106 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720106 ms (missed cycles : 2).[0m ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691556 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691556 ms (missed cycles : 2).[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774748 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774748 ms (missed cycles : 2).[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057337 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057337 ms (missed cycles : 2).[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690857 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690857 ms (missed cycles : 2).[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798631 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798631 ms (missed cycles : 2).[0m ×2 + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2).[0m ×2 + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2).[0m ×2 + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2).[0m ×2 + 25.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305368.32203531 seconds ×3 + 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 + 26.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305369.06391573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.47sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 26.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.48sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Received new action goal ×2 + 26.48sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Accepted new action goal ×2 + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 19.9s | 3 errors · 6 warnings · 189 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00326327 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.37sINFOros2_control_node[2026-10-18 06:33:28.524] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-18 06:33:28.524] [info] Accepted new action goal ×2 + 0.81sINFOros2_control_node[2026-10-18 06:33:28.956] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-10-18 06:33:28.956] [info] Accepted new action goal ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.77sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.77sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.77sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.77sERRORobjective_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: 1792305210.92119813 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792305211.75687075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-10-18 06:33:32.781] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-18 06:33:32.781] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794620 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794620 ms (missed cycles : 2).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964720 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964720 ms (missed cycles : 2).[0m ×2 + 9.10sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 9.11sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 9.17sINFOros2_control_node[2026-10-18 06:33:37.322] [info] Received new action goal ×2 + 9.17sINFOros2_control_node[2026-10-18 06:33:37.322] [info] Accepted new action goal ×2 + 18.58sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 18.70sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 18.71sINFOros2_control_node[2026-10-18 06:33:46.865] [info] Received new action goal ×2 + 18.72sINFOros2_control_node[2026-10-18 06:33:46.865] [info] Accepted new action goal ×2 + 22.63sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792305230.77946258 seconds ×3 + 23.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 23.17sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 23.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1792305231.47114778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.43sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 23.43sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 23.44sINFOros2_control_node[2026-10-18 06:33:51.595] [info] Received new action goal ×2 + 23.45sINFOros2_control_node[2026-10-18 06:33:51.595] [info] Accepted new action goal ×2 + 25.91sINFOros2_control_node[2026-10-18 06:33:54.060] [info] Received new action goal ×2 + 25.91sINFOros2_control_node[2026-10-18 06:33:54.060] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 warnings · 203 info |
+ 0.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1792305230.77946258 seconds ×3 + 0.00sINFOcontroller_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 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
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 and Execute Joint Trajectory" ×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 + 0.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1792305231.47114778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.82sINFOros2_control_node[2026-10-18 06:33:51.595] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-10-18 06:33:51.595] [info] Accepted new action goal ×2 + 3.28sINFOros2_control_node[2026-10-18 06:33:54.060] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-10-18 06:33:54.060] [info] Accepted new action goal ×2 + 11.85sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792305242.63255668 seconds ×3 + 12.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.39sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 12.45sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792305243.22541642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 12.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 12.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 12.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682082 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682082 ms (missed cycles : 3).[0m ×2 + 12.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792305243.29554486 seconds ×3 + 13.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.25sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 13.31sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305244.08959842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.43sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 13.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.44sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 13.44sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 15.45sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 6 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 + 0.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.92sINFOros2_control_node[2026-10-18 06:34:48.921] [info] Received new action goal ×2 + 0.92sINFOros2_control_node[2026-10-18 06:34:48.921] [info] Accepted new action goal ×2 + 2.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1792305290.07708549 seconds ×3 + 2.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.66sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.66sINFOobjective_server_nodecaller: ×4 + 2.66sINFOobjective_server_nodetype: 0 ×4 + 2.66sINFOobjective_server_nodename: "" ×4 + 2.66sINFOobjective_server_nodeinstance_id: "" ×4 + 2.66sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Push Button` starting at time: 1792305290.85532475 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (6.43e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 3.91sINFOros2_control_node[2026-10-18 06:34:51.910] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-10-18 06:34:51.910] [info] Accepted new action goal ×2 + 7.61sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 7.61sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.61sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.61sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.61sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 10.06sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.07sINFOros2_control_node[2026-10-18 06:34:58.072] [info] Received new action goal ×2 + 10.07sINFOros2_control_node[2026-10-18 06:34:58.072] [info] Accepted new action goal ×2 + 13.68sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1792305301.67729259 seconds ×3 + 14.22sINFOobjective_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: ""
+ 14.22sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1792305302.28625131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 14.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.45sINFOros2_control_node[2026-10-18 06:35:02.450] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-10-18 06:35:02.450] [info] Accepted new action goal ×2 + 15.72sINFOobjective_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 + 15.72sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064668 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064668 ms (missed cycles : 2).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364273 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364273 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.6s | 3 errors · 25 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8).[0m ×2 + 0.93sWARNros2_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 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_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 + 1.46sERRORobjective_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: 1792305165.02641368 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.00sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.00sINFOobjective_server_nodecaller: ×8 + 2.00sINFOobjective_server_nodetype: 0 ×8 + 2.00sINFOobjective_server_nodename: "" ×8 + 2.00sINFOobjective_server_nodeinstance_id: "" ×8 + 2.00sINFOobjective_server_node ×8 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305165.62506485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305165.74519205 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305166.44632435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (1.048e-06 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581143 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581143 ms (missed cycles : 3).[0m ×2 + 6.95sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071093 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071093 ms (missed cycles : 2).[0m ×2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.94sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.95sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 1 iterations (0.00364804 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.63sINFOros2_control_node[2026-10-18 06:32:52.191] [info] Received new action goal ×2 + 8.63sINFOros2_control_node[2026-10-18 06:32:52.191] [info] Accepted new action goal ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011898 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011898 ms (missed cycles : 3).[0m ×2 + 10.93sINFOros2_control_node[2026-10-18 06:32:54.493] [info] Received new action goal ×2 + 10.93sINFOros2_control_node[2026-10-18 06:32:54.493] [info] Accepted new action goal ×2 + 12.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.55sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Received new action goal ×2 + 12.55sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Accepted new action goal ×2 + 13.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305177.41063190 seconds ×3 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305178.03413892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305178.11426711 seconds ×3 + 15.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.16sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.23sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305178.79092598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.33sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 15.34sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.35sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Received new action goal ×2 + 15.35sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 74 errors · 25 warnings · 417 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303856 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303856 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490986 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490986 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305464.68877840 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036310 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036310 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.25sINFOobjective_server_nodecaller: ×6 + 2.25sINFOobjective_server_nodetype: 0 ×6 + 2.25sINFOobjective_server_nodename: "" ×6 + 2.25sINFOobjective_server_nodeinstance_id: "" ×6 + 2.25sINFOobjective_server_node ×6 + 2.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305465.29591489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.31sINFOobjective_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 + 2.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305465.29755402 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305465.89825845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305465.90882444 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305466.60556769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248123 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248123 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792305467.63568473 seconds ×3 + 4.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896516 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896516 ms (missed cycles : 5).[0m ×2 + 5.52sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 10.43sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.45sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.45sERRORweb_video_auth_proxy-25process has died [pid 8463, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.45sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.45sERRORweb_bridge_auth_proxy-24process has died [pid 8462, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.46sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.46sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.46sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.47sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.47sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.48sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.48sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.49sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198246 ms (missed cycles : 2). + 10.49sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.50sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.50sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.51sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.52sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.52sINFOvideo_server-23process has finished cleanly [pid 8461] ×2 + 10.52sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.53sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.53sINFOcontroller_managerShutdown request received.... + 10.53sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.53sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.53sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.53sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.53sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.53sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.53sINFOvideo_server2026/10/18 06:37:53 INF shutting down gracefully ×2 + 10.53sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.53sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.53sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.53sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.53sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.53sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.53sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.53sINFOvideo_server2026/10/18 06:37:53 INF [WebRTC] closing ×2 + 10.53sINFOvideo_server2026/10/18 06:37:53 INF [RTSP] closing ×2 + 10.53sINFOvideo_server2026/10/18 06:37:53 INF waiting for running hooks ×2 + 10.53sINFOcontroller_managerShutting down the controller manager. + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198246 ms (missed cycles : 2).[0m ×2 + 10.53sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.53sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.54sERRORmove_groupStack trace (most recent call last) in thread 8865: ×2 + 10.54sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.54sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff05286bcc3, in __clone ×2 + 10.54sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.54sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.54sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0527deb83, in ×2 + 10.54sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.54sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.54sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.54sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff052a6fdb3, in ×2 + 10.54sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.54sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.54sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.54sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.54sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7ff0531d9e94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.54sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.54sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.54sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.54sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.54sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.54sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.54sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff052e03620, in rclcpp::Rate::sleep() ×2 + 10.54sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.54sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff052d45d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.54sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff052d07087, in ×2 + 10.54sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff052a3e390, in __cxa_throw ×2 + 10.54sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff052a28a54, in std::terminate() ×2 + 10.54sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff052a3e0d9, in ×2 + 10.54sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff052a28ff4, in ×2 + 10.54sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff05276a8fe, in abort ×2 + 10.54sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff05278727d, in raise ×2 + 10.54sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff0527e0c0c, in pthread_kill ×2 + 10.54sERRORmove_groupAborted (Signal sent by tkill() 8370 0) ×2 + 10.54sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.55sERRORmove_group-9process has died [pid 8370, 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_p320qfxp --params-file /tmp/launch_params_6l2y40aw --params-file /tmp/launch_params_g7bxnivp --params-file /tmp/launch_params_uju88bpt --params-file /tmp/launch_params_d_b1yfox --params-file /tmp/launch_params_ppk7m_i8']. ×2 + 10.70sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.70sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 11.49sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 11.49sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 11.49sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 11.49sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.49sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 11.49sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 11.49sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.49sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 11.49sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.49sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.49sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.49sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.49sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.49sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.49sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 11.49sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.49sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.49sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 11.49sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.50sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.50sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.50sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.3.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.50sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.50sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.50sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.50sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.50sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.50sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.50sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.50sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.50sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.50sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.50sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.50sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.50sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.50sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.50sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.50sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.51sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8460] ×2 + 11.51sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.55sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8374] ×2 + 11.55sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8373] ×2 + 11.55sERRORjoint_state_visualization_relay-21process has died [pid 8459, 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_o51kh11a']. ×2 + 11.55sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.55sERRORtf_visualization_relay-20process has died [pid 8458, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay --ros-args --params-file /tmp/launch_params_35lrcz5_']. ×2 + 11.55sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.59sINFOwaypoint_manager_node-11process has finished cleanly [pid 8372] ×2 + 11.60sINFOui_teleop_bridge-18process has finished cleanly [pid 8379] ×2 + 11.60sINFOexecute_objective_bridge-17process has finished cleanly [pid 8378] ×2 + 11.61sINFOparameter_manager_node-10process has finished cleanly [pid 8371] ×2 + 11.64sINFOcomponent_container_mt-16process has finished cleanly [pid 8377] ×2 + 11.66sINFOobjective_server_node[0;m[2026-10-18 06:37:54.646] [moveit_pro_license] [critical] ×2 + 11.66sINFOobjective_server_node************************************************* ×4 + 11.66sINFOobjective_server_node* MoveIt Pro License ×2 + 11.66sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.92sINFOobjective_server_node_main-14process has finished cleanly [pid 8375] ×2 + 11.92sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.68sINFOcomponent_container_mt-15process has finished cleanly [pid 8376] ×2 + 12.76sINFOweb_bridge-19process has finished cleanly [pid 8380] ×2 + 12.76sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.15sINFOros2_control_node-1process has finished cleanly [pid 8333] ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 15 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.65sINFOobjective_server_nodecaller: ×4 + 2.65sINFOobjective_server_nodetype: 0 ×4 + 2.65sINFOobjective_server_nodename: "" ×4 + 2.65sINFOobjective_server_nodeinstance_id: "" ×4 + 2.65sINFOobjective_server_node ×4 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.686959 ms (missed cycles : 8). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.686959 ms (missed cycles : 8).[0m ×2 + 6.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.55sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (6.3e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.84sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 6.89sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 6.91sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.02sINFOobjective_server_nodeFound path in 5 iterations (0.00676446 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (2.17e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.28sINFOobjective_server_nodeFound path in 0 iterations (4.56e-07 s). ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.959463 ms (missed cycles : 9). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.959463 ms (missed cycles : 9).[0m ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.74sINFOros2_control_node[2026-10-18 06:33:14.602] [info] Received new action goal ×2 + 7.74sINFOros2_control_node[2026-10-18 06:33:14.602] [info] Accepted new action goal ×2 + 10.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1792305197.16650581 seconds ×3 + 10.30sINFOobjective_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 + 13.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.71sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.82sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792305200.67759609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.00sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 14.01sINFOros2_control_node[2026-10-18 06:33:20.871] [info] Received new action goal ×2 + 14.01sINFOros2_control_node[2026-10-18 06:33:20.871] [info] Accepted new action goal ×2 + 14.08sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865616 ms (missed cycles : 5). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865616 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 18 warnings · 2400 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305368.32203531 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.99sINFOobjective_server_nodecaller: ×4 + 3.99sINFOobjective_server_nodetype: 0 ×4 + 3.99sINFOobjective_server_nodename: "" ×4 + 3.99sINFOobjective_server_nodeinstance_id: "" ×4 + 3.99sINFOobjective_server_node ×4 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305369.06391573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458140 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458140 ms (missed cycles : 3).[0m ×2 + 8.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.58sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394426 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394426 ms (missed cycles : 3).[0m ×2 + 8.86sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.00sINFOobjective_server_nodeFound path in 1 iterations (0.00385928 s). ×2 + 9.13sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.18sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.20sINFOros2_control_node[2026-10-18 06:36:14.171] [info] Received new action goal ×2 + 9.20sINFOros2_control_node[2026-10-18 06:36:14.171] [info] Accepted new action goal ×2 + 11.50sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 11.50sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Accepted new action goal ×2 + 13.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.16sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Received new action goal ×2 + 13.16sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 14.44sINFOobjective_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 + 14.45sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 14.45sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 14.45sERRORobjective_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: 1792305379.42863083 seconds ×3 + 14.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.03sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.12sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 15.30sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 15.30sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 15.98sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 25 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 (3.75e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.11sINFOros2_control_node[2026-10-18 06:32:33.417] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-10-18 06:32:33.417] [info] Accepted new action goal ×2 + 0.71sINFOobjective_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 + 0.72sINFOros2_control_node[2026-10-18 06:32:34.022] [info] Got request to cancel active goal. ×2 + 0.72sINFOros2_control_node[2026-10-18 06:32:34.022] [info] Canceling active goal... ×2 + 0.74sERRORobjective_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: 1792305154.03977871 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.27sINFOobjective_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: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.28sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.28sINFOobjective_server_nodecaller: ×6 + 1.28sINFOobjective_server_nodetype: 0 ×6 + 1.28sINFOobjective_server_nodename: "" ×6 + 1.28sINFOobjective_server_nodeinstance_id: "" ×6 + 1.28sINFOobjective_server_node ×6 + 1.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792305154.67578220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.60sINFOros2_control_node[2026-10-18 06:32:34.900] [info] Received new action goal ×2 + 1.60sINFOros2_control_node[2026-10-18 06:32:34.900] [info] Accepted new action goal ×2 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.88sINFOros2_control_node[2026-10-18 06:32:37.180] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-18 06:32:37.180] [info] Accepted new action goal ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233726 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233726 ms (missed cycles : 5).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976584 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976584 ms (missed cycles : 2).[0m ×2 + 8.13sWARNros2_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 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948110 ms (missed cycles : 5). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948110 ms (missed cycles : 5).[0m ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8).[0m ×2 + 11.19sWARNros2_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 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2).[0m ×2 + 11.72sERRORobjective_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: 1792305165.02641368 seconds ×3 + 12.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.26sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 12.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305165.62506485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305165.74519205 seconds ×3 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2).[0m ×2 + 13.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 13.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305166.44632435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.33sINFOobjective_server_nodeFound path in 0 iterations (1.048e-06 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.34sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Received new action goal ×2 + 13.34sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Accepted new action goal ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 145 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 13.95sERRORobjective_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: 1792305390.42706752 seconds ×3 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792305391.06002927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 14.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.92sINFOros2_control_node[2026-10-18 06:36:31.393] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-10-18 06:36:31.393] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 3 warnings · 128 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792305400.98597765 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×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 + 0.54sINFOobjective_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 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×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 `Record and Replay Scanning Motion` starting at time: 1792305401.60000825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.74sINFOros2_control_node[2026-10-18 06:36:41.724] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-10-18 06:36:41.724] [info] Accepted new action goal ×2 + 2.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 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 + 10.93sERRORobjective_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: 1792305411.92028546 seconds ×3 + 11.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.47sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 11.55sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792305412.53829741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979032 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979032 ms (missed cycles : 2).[0m ×2 + 12.57sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 12.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 12.59sINFOros2_control_node[2026-10-18 06:36:53.573] [info] Received new action goal ×2 + 12.59sINFOros2_control_node[2026-10-18 06:36:53.573] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 9 warnings · 214 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_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: 1792305197.16650581 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 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1792305200.67759609 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 4.01sINFOros2_control_node[2026-10-18 06:33:20.871] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-10-18 06:33:20.871] [info] Accepted new action goal ×2 + 4.08sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865616 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865616 ms (missed cycles : 5).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898592 ms (missed cycles : 6). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.898592 ms (missed cycles : 6).[0m ×2 + 7.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.64sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.64sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.09sINFOobjective_server_nodeFound path in 5 iterations (0.00734361 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (2.15e-07 s). ×2 + 8.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.76sINFOros2_control_node[2026-10-18 06:33:25.624] [info] Received new action goal ×2 + 8.76sINFOros2_control_node[2026-10-18 06:33:25.624] [info] Accepted new action goal ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.29sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 11.29sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 11.42sINFOobjective_server_nodeFound path in 1 iterations (0.00326327 s). ×2 + 11.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.66sINFOros2_control_node[2026-10-18 06:33:28.524] [info] Received new action goal ×2 + 11.66sINFOros2_control_node[2026-10-18 06:33:28.524] [info] Accepted new action goal ×2 + 12.09sINFOros2_control_node[2026-10-18 06:33:28.956] [info] Received new action goal ×2 + 12.09sINFOros2_control_node[2026-10-18 06:33:28.956] [info] Accepted new action goal ×2 + 14.05sINFOobjective_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 + 14.05sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.05sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.05sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.06sERRORobjective_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: 1792305210.92119813 seconds ×3 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.77sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.89sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792305211.75687075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 15.92sINFOros2_control_node[2026-10-18 06:33:32.781] [info] Received new action goal ×2 + 15.92sINFOros2_control_node[2026-10-18 06:33:32.781] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 3 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.20sINFOros2_control_node[2026-10-18 06:32:26.438] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-10-18 06:32:26.438] [info] Accepted new action goal ×2 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 9.85sINFOros2_control_node[2026-10-18 06:32:30.088] [info] Received new action goal ×2 + 9.85sINFOros2_control_node[2026-10-18 06:32:30.088] [info] Accepted new action goal ×2 + 13.15sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 13.16sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.18sINFOros2_control_node[2026-10-18 06:32:33.417] [info] Received new action goal ×2 + 13.18sINFOros2_control_node[2026-10-18 06:32:33.417] [info] Accepted new action goal ×2 + 13.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.78sINFOros2_control_node[2026-10-18 06:32:34.022] [info] Got request to cancel active goal. ×2 + 13.78sINFOros2_control_node[2026-10-18 06:32:34.022] [info] Canceling active goal... ×2 + 13.80sERRORobjective_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: 1792305154.03977871 seconds ×3 + 13.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.34sINFOobjective_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: ""
+ 14.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1792305154.67578220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 14.66sINFOros2_control_node[2026-10-18 06:32:34.900] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-10-18 06:32:34.900] [info] Accepted new action goal ×2 + 16.92sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 16.92sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.94sINFOros2_control_node[2026-10-18 06:32:37.180] [info] Received new action goal ×2 + 16.94sINFOros2_control_node[2026-10-18 06:32:37.180] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.9s | 3 errors · 14 warnings · 254 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.61sINFOobjective_server_nodecaller: ×8 + 0.61sINFOobjective_server_nodetype: 0 ×8 + 0.61sINFOobjective_server_nodename: "" ×8 + 0.61sINFOobjective_server_nodeinstance_id: "" ×8 + 0.61sINFOobjective_server_node ×8 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_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 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 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: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×2 + 5.66sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 5.66sINFOros2_control_node[2026-10-18 06:37:32.100] [info] Received new action goal ×2 + 5.66sINFOros2_control_node[2026-10-18 06:37:32.100] [info] Accepted new action goal ×2 + 5.66sINFOros2_control_node[2026-10-18 06:37:32.101] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 12.48sINFOobjective_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 + 12.48sINFOros2_control_node[2026-10-18 06:37:38.917] [info] Got request to cancel active goal. ×2 + 12.48sINFOros2_control_node[2026-10-18 06:37:38.917] [info] Canceling active goal... ×2 + 12.48sERRORobjective_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: 1792305458.92162323 seconds ×3 + 13.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.03sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305459.52865601 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 4.634895 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634895 ms (missed cycles : 3).[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144803 ms (missed cycles : 2). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144803 ms (missed cycles : 2).[0m ×2 + 14.92sWARNros2_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 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 3 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Accepted new action goal ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305177.41063190 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.15sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.15sINFOobjective_server_nodecaller: ×6 + 2.15sINFOobjective_server_nodetype: 0 ×6 + 2.15sINFOobjective_server_nodename: "" ×6 + 2.15sINFOobjective_server_nodeinstance_id: "" ×6 + 2.15sINFOobjective_server_node ×6 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305178.03413892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305178.11426711 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305178.79092598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Accepted new action goal ×2 + 6.46sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.47sINFOros2_control_node[2026-10-18 06:33:02.265] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-10-18 06:33:02.265] [info] Accepted new action goal ×2 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 8.82sINFOros2_control_node[2026-10-18 06:33:04.612] [info] Received new action goal ×2 + 8.82sINFOros2_control_node[2026-10-18 06:33:04.612] [info] Accepted new action goal ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 11.19sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 11.19sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×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 + 13.13sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 13.13sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 13.14sERRORobjective_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: 1792305188.93461776 seconds ×3 + 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: 1792305189.58196831 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.98sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 13.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.99sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 13.99sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 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: 1792305390.42706752 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 + 0.04sINFOros2_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 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.57sINFOobjective_server_nodecaller: ×4 + 0.57sINFOobjective_server_nodetype: 0 ×4 + 0.57sINFOobjective_server_nodename: "" ×4 + 0.57sINFOobjective_server_nodeinstance_id: "" ×4 + 0.57sINFOobjective_server_node ×4 + 0.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792305391.06002927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.96sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.98sINFOros2_control_node[2026-10-18 06:36:31.393] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-18 06:36:31.393] [info] Accepted new action goal ×2 + 4.98sINFOros2_control_node[2026-10-18 06:36:35.400] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-10-18 06:36:35.400] [info] Accepted new action goal ×2 + 10.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792305400.98597765 seconds ×3 + 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 + 11.18sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1792305401.60000825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.29sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 11.31sINFOros2_control_node[2026-10-18 06:36:41.724] [info] Received new action goal ×2 + 11.31sINFOros2_control_node[2026-10-18 06:36:41.724] [info] Accepted new action goal ×2 + 13.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 5.8s | 3 errors · 27 warnings · 213 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 + 0.00sINFOros2_control_node[2026-10-18 06:37:38.917] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-18 06:37:38.917] [info] Canceling active goal... ×2 + 0.00sERRORobjective_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: 1792305458.92162323 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 ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 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 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305459.52865601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634895 ms (missed cycles : 3). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634895 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144803 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144803 ms (missed cycles : 2).[0m ×2 + 2.44sWARNros2_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 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3).[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303856 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303856 ms (missed cycles : 2).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490986 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490986 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305464.68877840 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036310 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036310 ms (missed cycles : 5).[0m ×2 + 6.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305465.29591489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.38sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305465.29755402 seconds ×3 + 6.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.92sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305465.89825845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305465.90882444 seconds ×3 + 7.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.63sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305466.60556769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248123 ms (missed cycles : 4). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248123 ms (missed cycles : 4).[0m ×2 + 8.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792305467.63568473 seconds ×3 + 8.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896516 ms (missed cycles : 5). | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 3 warnings · 205 info |
+ 0.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1792305242.63255668 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 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_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 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792305243.22541642 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 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682082 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682082 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792305243.29554486 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305244.08959842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.59sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 1.59sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 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 + 5.22sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305247.84973645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.30sINFOobjective_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 + 5.31sINFOobjective_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 + 5.58sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.63sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Received new action goal ×2 + 5.63sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305138.72768450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305138.73794723 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305139.33101559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 3.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.9s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 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 + 0.08sINFOros2_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 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.61sINFOobjective_server_nodecaller: ×6 + 0.61sINFOobjective_server_nodetype: 0 ×6 + 0.61sINFOobjective_server_nodename: "" ×6 + 0.61sINFOobjective_server_nodeinstance_id: "" ×6 + 0.61sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_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 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 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: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×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 7.948110 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948110 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8).[0m ×2 + 2.06sWARNros2_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 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_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 + 2.60sERRORobjective_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: 1792305165.02641368 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305165.62506485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305165.74519205 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305166.44632435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (1.048e-06 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 125 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:32:54.493] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:32:54.493] [info] Accepted new action goal ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Accepted new action goal ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305177.41063190 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305178.03413892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305178.11426711 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305178.79092598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.42sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-10-18 06:32:58.916] [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: 1792305242.63255668 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 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_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 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792305243.22541642 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 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682082 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682082 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792305243.29554486 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305244.08959842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.59sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 1.59sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305138.72768450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305138.73794723 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305139.33101559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 3.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 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 + 0.08sINFOros2_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 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.61sINFOobjective_server_nodecaller: ×6 + 0.61sINFOobjective_server_nodetype: 0 ×6 + 0.61sINFOobjective_server_nodename: "" ×6 + 0.61sINFOobjective_server_nodeinstance_id: "" ×6 + 0.61sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_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 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 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: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 23 warnings · 159 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303856 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303856 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490986 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490986 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305464.68877840 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036310 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036310 ms (missed cycles : 5).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.37sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.37sINFOobjective_server_nodecaller: ×6 + 3.37sINFOobjective_server_nodetype: 0 ×6 + 3.37sINFOobjective_server_nodename: "" ×6 + 3.37sINFOobjective_server_nodeinstance_id: "" ×6 + 3.37sINFOobjective_server_node ×6 + 3.44sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305465.29591489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.44sINFOobjective_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 + 3.44sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.44sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305465.29755402 seconds ×3 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305465.89825845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305465.90882444 seconds ×3 + 4.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.68sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305466.60556769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248123 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248123 ms (missed cycles : 4).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792305467.63568473 seconds ×3 + 5.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896516 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896516 ms (missed cycles : 5).[0m ×2 + 6.65sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 25 warnings · 159 info |
+ 0.00sWARNros2_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 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303856 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303856 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490986 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490986 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1792305464.68877840 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036310 ms (missed cycles : 5). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.036310 ms (missed cycles : 5).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.88sINFOobjective_server_nodecaller: ×6 + 3.88sINFOobjective_server_nodetype: 0 ×6 + 3.88sINFOobjective_server_nodename: "" ×6 + 3.88sINFOobjective_server_nodeinstance_id: "" ×6 + 3.88sINFOobjective_server_node ×6 + 3.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1792305465.29591489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.94sINFOobjective_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 + 3.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1792305465.29755402 seconds ×3 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1792305465.89825845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1792305465.90882444 seconds ×3 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1792305466.60556769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248123 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248123 ms (missed cycles : 4).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1792305467.63568473 seconds ×3 + 6.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896516 ms (missed cycles : 5). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896516 ms (missed cycles : 5).[0m ×2 + 7.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: wrist_camera (1.25 s). The render path has stopped producing new frames for them.[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 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Accepted new action goal ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305177.41063190 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_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 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.15sINFOobjective_server_nodetype: 0 ×4 + 2.15sINFOobjective_server_nodename: "" ×4 + 2.15sINFOobjective_server_nodeinstance_id: "" ×4 + 2.15sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305178.03413892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305178.11426711 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305178.79092598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Accepted new action goal ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 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 12.223980 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8).[0m ×2 + 0.93sWARNros2_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 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_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 + 1.46sERRORobjective_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: 1792305165.02641368 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.00sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.00sINFOobjective_server_nodecaller: ×4 + 2.00sINFOobjective_server_nodetype: 0 ×4 + 2.00sINFOobjective_server_nodename: "" ×4 + 2.00sINFOobjective_server_nodeinstance_id: "" ×4 + 2.00sINFOobjective_server_node ×4 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305165.62506485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305165.74519205 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305166.44632435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (1.048e-06 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 12 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305368.32203531 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305369.06391573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3).[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 7.948110 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948110 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8).[0m ×2 + 2.06sWARNros2_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 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_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 + 2.60sERRORobjective_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: 1792305165.02641368 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305165.62506485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305165.74519205 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305166.44632435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (1.048e-06 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5).[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 7.948110 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948110 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8).[0m ×2 + 2.06sWARNros2_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 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_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 + 2.60sERRORobjective_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: 1792305165.02641368 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305165.62506485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305165.74519205 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305166.44632435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (1.048e-06 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Accepted new action goal ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5).[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 12.223980 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8).[0m ×2 + 0.93sWARNros2_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 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_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 + 1.46sERRORobjective_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: 1792305165.02641368 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.00sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.00sINFOobjective_server_nodecaller: ×4 + 2.00sINFOobjective_server_nodetype: 0 ×4 + 2.00sINFOobjective_server_nodename: "" ×4 + 2.00sINFOobjective_server_nodeinstance_id: "" ×4 + 2.00sINFOobjective_server_node ×4 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305165.62506485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305165.74519205 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305166.44632435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (1.048e-06 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5).[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 12.223980 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8).[0m ×2 + 0.93sWARNros2_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 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_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 + 1.46sERRORobjective_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: 1792305165.02641368 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.00sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.00sINFOobjective_server_nodecaller: ×4 + 2.00sINFOobjective_server_nodetype: 0 ×4 + 2.00sINFOobjective_server_nodename: "" ×4 + 2.00sINFOobjective_server_nodeinstance_id: "" ×4 + 2.00sINFOobjective_server_node ×4 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305165.62506485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305165.74519205 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305166.44632435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (1.048e-06 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5).[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 12.223980 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.223980 ms (missed cycles : 8).[0m ×2 + 0.93sWARNros2_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 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323869 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_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 + 1.46sERRORobjective_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: 1792305165.02641368 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.00sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.00sINFOobjective_server_nodecaller: ×4 + 2.00sINFOobjective_server_nodetype: 0 ×4 + 2.00sINFOobjective_server_nodename: "" ×4 + 2.00sINFOobjective_server_nodeinstance_id: "" ×4 + 2.00sINFOobjective_server_node ×4 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1792305165.62506485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1792305165.74519205 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802649 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1792305166.44632435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (1.048e-06 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-10-18 06:32:46.640] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859474 ms (missed cycles : 5).[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 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Accepted new action goal ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305177.41063190 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_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 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.15sINFOobjective_server_nodetype: 0 ×4 + 2.15sINFOobjective_server_nodename: "" ×4 + 2.15sINFOobjective_server_nodeinstance_id: "" ×4 + 2.15sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305178.03413892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305178.11426711 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305178.79092598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [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 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Accepted new action goal ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305177.41063190 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_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 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.15sINFOobjective_server_nodetype: 0 ×4 + 2.15sINFOobjective_server_nodename: "" ×4 + 2.15sINFOobjective_server_nodeinstance_id: "" ×4 + 2.15sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305178.03413892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305178.11426711 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305178.79092598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [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 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Accepted new action goal ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305177.41063190 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_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 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.15sINFOobjective_server_nodetype: 0 ×4 + 2.15sINFOobjective_server_nodename: "" ×4 + 2.15sINFOobjective_server_nodeinstance_id: "" ×4 + 2.15sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305178.03413892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305178.11426711 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305178.79092598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [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 + 0.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-10-18 06:32:56.114] [info] Accepted new action goal ×2 + 1.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1792305177.41063190 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.63sINFOcontroller_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 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.15sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.15sINFOobjective_server_nodecaller: ×4 + 2.15sINFOobjective_server_nodetype: 0 ×4 + 2.15sINFOobjective_server_nodename: "" ×4 + 2.15sINFOobjective_server_nodeinstance_id: "" ×4 + 2.15sINFOobjective_server_node ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1792305178.03413892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1792305178.11426711 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1792305178.79092598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-10-18 06:32:58.916] [info] Accepted new action goal ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 3 warnings · 79 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (7.39e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-10-18 06:33:06.983] [info] Accepted new action goal ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Got request to cancel active goal. ×2 + 2.06sINFOros2_control_node[2026-10-18 06:33:08.921] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1792305188.93461776 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.12sINFOros2_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 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.65sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.65sINFOobjective_server_nodecaller: ×2 + 2.65sINFOobjective_server_nodetype: 0 ×2 + 2.65sINFOobjective_server_nodename: "" ×2 + 2.65sINFOobjective_server_nodeinstance_id: "" ×2 + 2.65sINFOobjective_server_node ×2 + 2.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1792305189.58196831 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 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.92sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-10-18 06:33:09.786] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657993 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 100 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.13sINFOobjective_server_nodeFound path in 1 iterations (0.00326327 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.37sINFOros2_control_node[2026-10-18 06:33:28.524] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-10-18 06:33:28.524] [info] Accepted new action goal ×2 + 0.81sINFOros2_control_node[2026-10-18 06:33:28.956] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-10-18 06:33:28.956] [info] Accepted new action goal ×2 + 2.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.77sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.77sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.77sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.77sERRORobjective_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: 1792305210.92119813 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1792305211.75687075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-10-18 06:33:32.781] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-10-18 06:33:32.781] [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: 1792305242.63255668 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 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.02sINFOros2_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 + 0.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1792305243.22541642 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 + 0.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682082 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682082 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1792305243.29554486 seconds ×3 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 1.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1792305244.08959842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.58sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.59sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 1.59sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 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: 1792305244.08959842 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 (3.31e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305247.84973645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 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: 1792305244.08959842 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 (3.31e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305247.84973645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 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: 1792305244.08959842 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 (3.31e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305247.84973645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 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: 1792305244.08959842 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 (3.31e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305247.84973645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 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: 1792305244.08959842 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 (3.31e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305247.84973645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 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: 1792305244.08959842 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 (3.31e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305247.84973645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 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: 1792305244.08959842 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 (3.31e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-18 06:34:04.223] [info] Accepted new action goal ×2 + 2.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1792305246.22973871 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1792305247.84973645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-18 06:34:08.257] [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: 1792305301.67729259 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 + 0.02sINFOros2_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 + 0.54sINFOobjective_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: 1792305302.28625131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 0.77sINFOros2_control_node[2026-10-18 06:35:02.450] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-10-18 06:35:02.450] [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 + 2.10sINFOobjective_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 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064668 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064668 ms (missed cycles : 2).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364273 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364273 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 12 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305368.32203531 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305369.06391573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 12 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305368.32203531 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305369.06391573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 12 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305368.32203531 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305369.06391573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 12 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344887 ms (missed cycles : 2).[0m ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710581 ms (missed cycles : 2).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880888 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1792305368.32203531 seconds ×3 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.99sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.99sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.99sINFOobjective_server_nodecaller: ×2 + 3.99sINFOobjective_server_nodetype: 0 ×2 + 3.99sINFOobjective_server_nodename: "" ×2 + 3.99sINFOobjective_server_nodeinstance_id: "" ×2 + 3.99sINFOobjective_server_node ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1792305369.06391573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-10-18 06:36:09.298] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939063 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 84 info |
+ 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-18 06:36:16.473] [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 06:36:18.137] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:18.137] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-10-18 06:36:19.424] [info] Canceling active goal... ×2 + 2.95sERRORobjective_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: 1792305379.42863083 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1792305380.09651613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-10-18 06:36:20.270] [info] Accepted new action goal ×2 + 4.48sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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: 1792305390.42706752 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 + 0.04sINFOros2_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 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.57sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 0.57sINFOobjective_server_nodecaller: ×2 + 0.57sINFOobjective_server_nodetype: 0 ×2 + 0.57sINFOobjective_server_nodename: "" ×2 + 0.57sINFOobjective_server_nodeinstance_id: "" ×2 + 0.57sINFOobjective_server_node ×2 + 0.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1792305391.06002927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 0.96sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.98sINFOros2_control_node[2026-10-18 06:36:31.393] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-10-18 06:36:31.393] [info] Accepted new action goal ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 64 info |
+ 0.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1792305400.98597765 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! ×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 + 0.54sINFOobjective_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 + 0.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×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 `Record and Replay Scanning Motion` starting at time: 1792305401.60000825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 0.74sINFOros2_control_node[2026-10-18 06:36:41.724] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-10-18 06:36:41.724] [info] Accepted new action goal ×2 + 2.65sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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 + 0.00sERRORobjective_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: 1792305411.92028546 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 0.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.54sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×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 + 0.62sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1792305412.53829741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979032 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979032 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:53.573] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-18 06:36:53.573] [info] Accepted new action goal ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 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 + 0.08sINFOros2_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 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.61sINFOobjective_server_nodecaller: ×6 + 0.61sINFOobjective_server_nodetype: 0 ×6 + 0.61sINFOobjective_server_nodename: "" ×6 + 0.61sINFOobjective_server_nodeinstance_id: "" ×6 + 0.61sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_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 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 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: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 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 + 0.08sINFOros2_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 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.61sINFOobjective_server_nodecaller: ×6 + 0.61sINFOobjective_server_nodetype: 0 ×6 + 0.61sINFOobjective_server_nodename: "" ×6 + 0.61sINFOobjective_server_nodeinstance_id: "" ×6 + 0.61sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_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 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 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: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 warnings · 188 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 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 + 0.08sINFOros2_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 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.61sINFOobjective_server_nodecaller: ×6 + 0.61sINFOobjective_server_nodetype: 0 ×6 + 0.61sINFOobjective_server_nodename: "" ×6 + 0.61sINFOobjective_server_nodeinstance_id: "" ×6 + 0.61sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_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 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 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: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 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 + 0.08sINFOros2_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 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.61sINFOobjective_server_nodecaller: ×6 + 0.61sINFOobjective_server_nodetype: 0 ×6 + 0.61sINFOobjective_server_nodename: "" ×6 + 0.61sINFOobjective_server_nodeinstance_id: "" ×6 + 0.61sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_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 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 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: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 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 + 0.08sINFOros2_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 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.61sINFOobjective_server_nodecaller: ×6 + 0.61sINFOobjective_server_nodetype: 0 ×6 + 0.61sINFOobjective_server_nodename: "" ×6 + 0.61sINFOobjective_server_nodeinstance_id: "" ×6 + 0.61sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_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 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 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: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 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 + 0.08sINFOros2_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 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.61sINFOobjective_server_nodecaller: ×6 + 0.61sINFOobjective_server_nodetype: 0 ×6 + 0.61sINFOobjective_server_nodename: "" ×6 + 0.61sINFOobjective_server_nodeinstance_id: "" ×6 + 0.61sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_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 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 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: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 warnings · 191 info |
+ 0.00sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1792305446.43881583 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 + 0.08sINFOros2_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 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.61sINFOobjective_server_nodecaller: ×6 + 0.61sINFOobjective_server_nodetype: 0 ×6 + 0.61sINFOobjective_server_nodename: "" ×6 + 0.61sINFOobjective_server_nodeinstance_id: "" ×6 + 0.61sINFOobjective_server_node ×6 + 0.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1792305447.26698995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392631 ms (missed cycles : 3).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1792305447.40711498 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 1.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1792305448.00517344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_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 + 1.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1792305448.02842140 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: 1792305448.67722917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.34sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 2.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-10-18 06:37:28.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 11 warnings · 54 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 + 0.00sINFOros2_control_node[2026-10-18 06:37:38.917] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-18 06:37:38.917] [info] Canceling active goal... ×2 + 0.00sERRORobjective_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: 1792305458.92162323 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! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.02sINFOros2_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 + 0.03sINFOcontroller_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: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305459.52865601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634895 ms (missed cycles : 3). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634895 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144803 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144803 ms (missed cycles : 2).[0m ×2 + 2.44sWARNros2_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 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 11 warnings · 54 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 + 0.00sINFOros2_control_node[2026-10-18 06:37:38.917] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-18 06:37:38.917] [info] Canceling active goal... ×2 + 0.00sERRORobjective_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: 1792305458.92162323 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! ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.02sINFOros2_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 + 0.03sINFOcontroller_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: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1792305459.52865601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634895 ms (missed cycles : 3). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634895 ms (missed cycles : 3).[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144803 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144803 ms (missed cycles : 2).[0m ×2 + 2.44sWARNros2_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 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501401 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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 | 12.2s | 35 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/2026-10-18-06-32-06-548593-6e25eabc9972-8285 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.68sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.68sINFOcontroller_managerupdate rate is 600 Hz + 0.68sINFOcontroller_managerOverruns handling is : enabled + 0.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.68sWARNcontroller_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. + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.719942 ms (missed cycles : 6). + 0.86sINFOros2_control_node-1process started with pid [8333] ×2 + 0.86sINFOmove_group-9process started with pid [8370] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [8371] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [8372] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [8373] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [8374] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [8375] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [8376] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [8377] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [8378] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [8379] ×2 + 0.86sINFOweb_bridge-19process started with pid [8380] ×2 + 0.86sINFOtf_visualization_relay-20process started with pid [8458] ×2 + 0.86sINFOjoint_state_visualization_relay-21process started with pid [8459] ×2 + 0.86sINFOtf2_web_republisher_node-22process started with pid [8460] ×2 + 0.86sINFOvideo_server-23process started with pid [8461] ×2 + 0.86sINFOweb_bridge_auth_proxy-24process started with pid [8462] ×2 + 0.86sINFOweb_video_auth_proxy-25process started with pid [8463] ×2 + 0.86sINFOros2-2process started with pid [8334] ×2 + 0.86sINFOros2-3process started with pid [8335] ×2 + 0.86sINFOros2-4process started with pid [8336] ×2 + 0.86sINFOros2-5process started with pid [8337] ×2 + 0.86sINFOros2-6process started with pid [8338] ×2 + 0.86sINFOros2-7process started with pid [8339] ×2 + 0.86sINFOros2-8process started with pid [8340] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.88sWARNros2_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 + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.719942 ms (missed cycles : 6).[0m ×2 + 0.94sINFOcontroller_managerReceived robot description from topic. + 0.94sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.94sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.94sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.17sINFOvideo_server2026/10/18 06:32:08 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/10/18 06:32:08 INF configuration loaded from /tmp/moveit-webrtc-r5ryf11i/mediamtx.yml ×2 + 1.17sINFOvideo_server2026/10/18 06:32:08 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.17sINFOvideo_server2026/10/18 06:32:08 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.69sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.76sINFOweb_bridge_auth_proxy2026-10-18 06:32:08,651 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.76sINFOweb_bridge_auth_proxy2026-10-18 06:32:08,654 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.77sINFOweb_video_auth_proxy2026-10-18 06:32:08,657 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729120 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729120 ms (missed cycles : 2).[0m ×2 + 2.04sINFOmove_group[2026-10-18 06:32:08.927] [moveit_pro_license] [info] ×2 + 2.04sINFOmove_group************************************************* ×4 + 2.04sINFOmove_group* MoveIt Pro License ×2 + 2.04sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×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 + 2.27sINFOwaypoint_manager_node[2026-10-18 06:32:09.159] [moveit_pro_license] [info] ×2 + 2.27sINFOwaypoint_manager_node************************************************* ×4 + 2.27sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.27sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.37sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.37sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.44sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.44sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.45sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.45sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.45sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.46sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.61sINFOmove_group ×4 + 2.61sINFOmove_group[92mYou can start planning now![0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781566 ms (missed cycles : 4). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781566 ms (missed cycles : 4).[0m ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.38sINFOobjective_server_node[2026-10-18 06:32:10.272] [moveit_pro_license] [info] ×2 + 3.38sINFOobjective_server_node************************************************* ×4 + 3.38sINFOobjective_server_node* MoveIt Pro License ×2 + 3.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.51sINFOobjective_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 + 3.51sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.53sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.53sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.91sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.91sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.98sINFOcomponent_container_mt[2026-10-18 06:32:10.871] [moveit_pro_license] [info] ×2 + 3.98sINFOcomponent_container_mt************************************************* ×4 + 3.98sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.98sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.03sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.03sINFOros2_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 + 4.03sWARNros2_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 + 4.03sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.03sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.03sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.03sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.03sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.03sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.03sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.03sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.03sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.03sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.03sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.03sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.03sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.03sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.03sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.03sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.03sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.03sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.03sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.03sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.03sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.03sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.03sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.21sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.21sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.21sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.21sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.21sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs + 4.21sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs [0m ×2 + 4.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.23sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.23sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.23sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.23sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.23sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.24sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.24sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.25sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929110 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929110 ms (missed cycles : 2).[0m ×2 + 4.52sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.52sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.52sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.52sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.55sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.55sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.55sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs + 4.55sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs [0m ×2 + 4.56sINFOros2-4process has finished cleanly [pid 8336] ×2 + 4.59sINFOros2_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 + 4.59sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.59sWARNros2_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 + 4.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.60sINFOforce_torque_sensor_broadcasterconfigure successful + 4.60sINFOros2_control_nodeconfigure successful[0m ×2 + 4.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.88sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.88sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.88sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.88sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.91sINFOros2-2process has finished cleanly [pid 8334] ×2 + 5.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs + 5.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs [0m ×2 + 5.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.07sINFOros2_control_node[2026-10-18 06:32:11.964] [info] Controller state will be published at 10 Hz. ×2 + 5.08sINFOros2_control_node[2026-10-18 06:32:11.965] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.35sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.35sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.35sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.37sINFOros2-7process has finished cleanly [pid 8339] ×2 + 5.43sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs + 5.43sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs [0m ×2 + 5.48sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.48sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.48sINFOros2_control_node[2026-10-18 06:32:12.368] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.48sINFOros2_control_node[2026-10-18 06:32:12.368] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.50sINFOros2_control_node[2026-10-18 06:32:12.393] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.50sINFOros2_control_node[2026-10-18 06:32:12.393] [info] Controller state will be published at 50 Hz. ×2 + 5.51sINFOros2_control_node[2026-10-18 06:32:12.403] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472929 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472929 ms (missed cycles : 4).[0m ×2 + 5.81sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.81sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.81sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.81sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.85sINFOros2-6process has finished cleanly [pid 8338] ×2 + 5.90sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs + 5.90sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs [0m ×2 + 5.93sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.93sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.96sINFOros2_control_node[2026-10-18 06:32:12.852] [info] Controller state will be published at 20 Hz. ×2 + 5.96sINFOros2_control_node[2026-10-18 06:32:12.853] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.27sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.27sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.27sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.27sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.28sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs + 6.28sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs [0m ×2 + 6.29sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.29sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.31sINFOros2-8process has finished cleanly [pid 8340] ×2 + 6.31sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.31sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.32sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.32sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.32sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.32sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.33sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.33sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115487 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115487 ms (missed cycles : 2).[0m ×2 + 6.64sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.64sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.64sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.65sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs + 6.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8mgfzov8 --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_swgh17pg --params-file /tmp/launch_params_owa4jyvs [0m ×2 + 6.68sINFOros2-3process has finished cleanly [pid 8335] ×2 + 6.71sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.71sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.71sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.71sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.71sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.71sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.71sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.72sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.72sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.72sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.72sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.73sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.02sINFOros2-5process has finished cleanly [pid 8337] ×2 + 11.03sWARNobjective_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 + 11.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 11.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 11.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 11.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 11.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 11.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 11.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 11.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 11.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.77sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 11.77sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 11.77sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 11.77sINFOobjective_server_nodeparameter_overrides: [] ×10 + 11.77sINFOobjective_server_nodecaller: ×10 + 11.77sINFOobjective_server_nodetype: 0 ×10 + 11.77sINFOobjective_server_nodename: "" ×10 + 11.77sINFOobjective_server_nodeinstance_id: "" ×10 + 11.77sINFOobjective_server_node ×10 + 11.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305138.72768450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305138.73794723 seconds ×3 + 12.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 12.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305139.33101559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 12.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 13.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 seconds ×3 + 13.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.92sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 13.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 14.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 14.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 15.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 15.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 3 warnings · 389 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305138.72768450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305138.73794723 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305139.33101559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 2.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.27sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 7.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305138.72768450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305138.73794723 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305139.33101559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 3.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 3 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-10-18 06:32:26.438] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-10-18 06:32:26.438] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 12 warnings · 193 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/2026-10-18-06-32-06-548593-6e25eabc9972-8285 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.68sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.68sINFOcontroller_managerupdate rate is 600 Hz + 0.68sINFOcontroller_managerOverruns handling is : enabled + 0.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.68sWARNcontroller_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. + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.719942 ms (missed cycles : 6). + 0.86sINFOros2_control_node-1process started with pid [8333] ×2 + 0.86sINFOmove_group-9process started with pid [8370] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [8371] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [8372] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [8373] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [8374] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [8375] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [8376] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [8377] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [8378] ×2 + 0.86sINFOui_teleop_bridge-18process started with pid [8379] ×2 + 0.86sINFOweb_bridge-19process started with pid [8380] ×2 + 0.86sINFOtf_visualization_relay-20process started with pid [8458] ×2 + 0.86sINFOjoint_state_visualization_relay-21process started with pid [8459] ×2 + 0.86sINFOtf2_web_republisher_node-22process started with pid [8460] ×2 + 0.86sINFOvideo_server-23process started with pid [8461] ×2 + 0.86sINFOweb_bridge_auth_proxy-24process started with pid [8462] ×2 + 0.86sINFOweb_video_auth_proxy-25process started with pid [8463] ×2 + 0.86sINFOros2-2process started with pid [8334] ×2 + 0.86sINFOros2-3process started with pid [8335] ×2 + 0.86sINFOros2-4process started with pid [8336] ×2 + 0.86sINFOros2-5process started with pid [8337] ×2 + 0.86sINFOros2-6process started with pid [8338] ×2 + 0.86sINFOros2-7process started with pid [8339] ×2 + 0.86sINFOros2-8process started with pid [8340] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.88sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.88sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.88sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.88sWARNros2_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 + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.719942 ms (missed cycles : 6).[0m ×2 + 0.94sINFOcontroller_managerReceived robot description from topic. + 0.94sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.94sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.94sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.17sINFOvideo_server2026/10/18 06:32:08 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/10/18 06:32:08 INF configuration loaded from /tmp/moveit-webrtc-r5ryf11i/mediamtx.yml ×2 + 1.17sINFOvideo_server2026/10/18 06:32:08 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.17sINFOvideo_server2026/10/18 06:32:08 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.69sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.69sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.76sINFOweb_bridge_auth_proxy2026-10-18 06:32:08,651 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.76sINFOweb_bridge_auth_proxy2026-10-18 06:32:08,654 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.77sINFOweb_video_auth_proxy2026-10-18 06:32:08,657 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729120 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729120 ms (missed cycles : 2).[0m ×2 + 2.04sINFOmove_group[2026-10-18 06:32:08.927] [moveit_pro_license] [info] ×2 + 2.04sINFOmove_group************************************************* ×4 + 2.04sINFOmove_group* MoveIt Pro License ×2 + 2.04sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×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 + 2.27sINFOwaypoint_manager_node[2026-10-18 06:32:09.159] [moveit_pro_license] [info] ×2 + 2.27sINFOwaypoint_manager_node************************************************* ×4 + 2.27sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.27sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.37sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.37sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.44sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.44sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.45sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.45sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.45sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.46sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.61sINFOmove_group ×4 + 2.61sINFOmove_group[92mYou can start planning now![0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781566 ms (missed cycles : 4). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781566 ms (missed cycles : 4).[0m ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.38sINFOobjective_server_node[2026-10-18 06:32:10.272] [moveit_pro_license] [info] ×2 + 3.38sINFOobjective_server_node************************************************* ×4 + 3.38sINFOobjective_server_node* MoveIt Pro License ×2 + 3.38sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.51sINFOobjective_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 + 3.51sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.53sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.53sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305138.72768450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305138.73794723 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305139.33101559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 3.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305138.72768450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305138.73794723 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305139.33101559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 3.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305138.72768450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305138.73794723 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305139.33101559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 3.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 5 warnings · 413 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.74sINFOobjective_server_nodecaller: ×14 + 0.74sINFOobjective_server_nodetype: 0 ×14 + 0.74sINFOobjective_server_nodename: "" ×14 + 0.74sINFOobjective_server_nodeinstance_id: "" ×14 + 0.74sINFOobjective_server_node ×14 + 0.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305138.72768450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305138.73794723 seconds ×3 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305139.33101559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 3.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.00sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 6.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 6.01sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 3 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1792305138.72768450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1792305138.73794723 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1792305139.33101559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 seconds ×3 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 2.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.27sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | plan_path_with_mtc.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-10-18 06:32:26.438] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-10-18 06:32:26.438] [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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_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 · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 3 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1792305140.24115348 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 ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1792305140.86422658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1792305140.92437458 seconds ×3 + 0.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1792305141.63449216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1792305141.65460753 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796585 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1792305142.25836372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1792305142.40887284 seconds ×3 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1792305143.09559608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1792305143.14571524 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1792305143.79223514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.4929e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-18 06:32:23.928] [info] Accepted new action goal ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||