136
Total objective tests
34
Objectives passed
0
Objectives failed
102
Objectives skipped
10.3s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass61 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 163 warnings · 19932 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556304 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556304 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708272 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708272 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.049202 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.049202 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791700384.03777909 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198060 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198060 ms (missed cycles : 5).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791700384.67017555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.93sINFOros2_control_node[2026-10-11 06:33:04.834] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-10-11 06:33:04.834] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570033 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570033 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_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 + 5.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.27sINFOobjective_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 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413527 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413527 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188925 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188925 ms (missed cycles : 2).[0m ×2 + 7.37sINFOjoint_trajectory_controllerReceived new action goal ×3278 + 7.37sINFOjoint_trajectory_controllerAccepted new action goal ×3278 + 7.37sINFOros2_control_nodeReceived new action goal[0m ×6556 + 7.37sINFOros2_control_nodeAccepted new action goal[0m ×6556 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715801 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715801 ms (missed cycles : 2).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668314 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668314 ms (missed cycles : 2).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671880 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671880 ms (missed cycles : 2).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692540 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692540 ms (missed cycles : 2).[0m ×2 + 11.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666840 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666840 ms (missed cycles : 2).[0m ×2 + 12.27sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.27sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.28sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919892 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919892 ms (missed cycles : 2).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.968098 ms (missed cycles : 8). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.968098 ms (missed cycles : 8).[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877515 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877515 ms (missed cycles : 2).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978502 ms (missed cycles : 2). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978502 ms (missed cycles : 2).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945990 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945990 ms (missed cycles : 2).[0m ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696346 ms (missed cycles : 2). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696346 ms (missed cycles : 2).[0m ×2 + 18.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369380 ms (missed cycles : 2). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369380 ms (missed cycles : 2).[0m ×2 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894793 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894793 ms (missed cycles : 2).[0m ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979002 ms (missed cycles : 2). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979002 ms (missed cycles : 2).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332625 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332625 ms (missed cycles : 2).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337702 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337702 ms (missed cycles : 2).[0m ×2 + 23.71sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668082 ms (missed cycles : 2). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668082 ms (missed cycles : 2).[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269407 ms (missed cycles : 2). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269407 ms (missed cycles : 2).[0m ×2 + 25.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×4 + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648880 ms (missed cycles : 4). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.648880 ms (missed cycles : 4).[0m ×2 + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646158 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646158 ms (missed cycles : 2).[0m ×2 + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943189 ms (missed cycles : 3). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943189 ms (missed cycles : 3).[0m ×2 + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714065 ms (missed cycles : 2). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714065 ms (missed cycles : 2).[0m ×2 + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654699 ms (missed cycles : 4). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654699 ms (missed cycles : 4).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250872 ms (missed cycles : 2). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250872 ms (missed cycles : 2).[0m ×2 + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718997 ms (missed cycles : 2). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718997 ms (missed cycles : 2).[0m ×2 + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068830 ms (missed cycles : 2). + 33.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068830 ms (missed cycles : 2).[0m ×2 + 34.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247221 ms (missed cycles : 2). + 34.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247221 ms (missed cycles : 2).[0m ×2 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008929 ms (missed cycles : 2). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008929 ms (missed cycles : 2).[0m ×2 + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363163 ms (missed cycles : 2). + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363163 ms (missed cycles : 2).[0m ×2 + 38.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295996 ms (missed cycles : 2). + 38.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295996 ms (missed cycles : 2).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012958 ms (missed cycles : 2). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012958 ms (missed cycles : 2).[0m ×2 + 39.60sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×4 + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598740 ms (missed cycles : 4). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598740 ms (missed cycles : 4).[0m ×2 + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851699 ms (missed cycles : 2). + 41.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851699 ms (missed cycles : 2).[0m ×2 + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745029 ms (missed cycles : 2). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745029 ms (missed cycles : 2).[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471254 ms (missed cycles : 2). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471254 ms (missed cycles : 2).[0m ×2 + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155517 ms (missed cycles : 2). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155517 ms (missed cycles : 2).[0m ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687775 ms (missed cycles : 2). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687775 ms (missed cycles : 2).[0m ×2 + 46.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619363 ms (missed cycles : 2). + 46.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619363 ms (missed cycles : 2).[0m ×2 + 47.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765978 ms (missed cycles : 2). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765978 ms (missed cycles : 2).[0m ×2 + 47.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791700428.56338692 seconds ×3 + 47.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.21sINFOobjective_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: ""
+ 48.21sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791700429.21468711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.45sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 48.46sINFOros2_control_node[2026-10-11 06:33:49.368] [info] Received new action goal ×2 + 48.46sINFOros2_control_node[2026-10-11 06:33:49.368] [info] Accepted new action goal ×2 + 48.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207988 ms (missed cycles : 2). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207988 ms (missed cycles : 2).[0m ×2 + 49.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332544 ms (missed cycles : 4). + 49.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332544 ms (missed cycles : 4).[0m ×2 + 50.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128053 ms (missed cycles : 2). + 50.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128053 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.1s | 153 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_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: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791700330.95720744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5).[0m ×2 + 3.89sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.365] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.366] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.435359 ms (missed cycles : 7). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.435359 ms (missed cycles : 7).[0m ×2 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 7.09sINFOros2_control_node[2026-10-11 06:32:14.243] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-10-11 06:32:14.243] [info] Accepted new action goal ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188877 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188877 ms (missed cycles : 4).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253315 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253315 ms (missed cycles : 2).[0m ×2 + 10.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.24sINFOros2_control_node[2026-10-11 06:32:17.391] [info] Received new action goal ×2 + 10.24sINFOros2_control_node[2026-10-11 06:32:17.391] [info] Accepted new action goal ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204421 ms (missed cycles : 4). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204421 ms (missed cycles : 4).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428112 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428112 ms (missed cycles : 3).[0m ×2 + 12.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×8 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055274 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055274 ms (missed cycles : 2).[0m ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.25sINFOros2_control_node[2026-10-11 06:32:20.405] [info] Received new action goal ×2 + 13.25sINFOros2_control_node[2026-10-11 06:32:20.405] [info] Accepted new action goal ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686648 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686648 ms (missed cycles : 2).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701996 ms (missed cycles : 3). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701996 ms (missed cycles : 3).[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030312 ms (missed cycles : 2). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030312 ms (missed cycles : 2).[0m ×2 + 16.21sINFOobjective_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 + 16.21sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.21sINFOcontroller_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 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536800 ms (missed cycles : 3). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536800 ms (missed cycles : 3).[0m ×2 + 17.46sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174696 ms (missed cycles : 5). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174696 ms (missed cycles : 5).[0m ×2 + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775427 ms (missed cycles : 3). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775427 ms (missed cycles : 3).[0m ×2 + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897169 ms (missed cycles : 3). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897169 ms (missed cycles : 3).[0m ×2 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159916 ms (missed cycles : 2). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159916 ms (missed cycles : 2).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242864 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242864 ms (missed cycles : 2).[0m ×2 + 22.99sINFOobjective_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 + 22.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.99sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.99sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.99sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.99sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983594 ms (missed cycles : 3). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983594 ms (missed cycles : 3).[0m ×2 + 23.94sINFOros2_control_node[2026-10-11 06:32:31.095] [info] Received new action goal ×2 + 23.94sINFOros2_control_node[2026-10-11 06:32:31.095] [info] Accepted new action goal ×2 + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892168 ms (missed cycles : 3). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892168 ms (missed cycles : 3).[0m ×2 + 25.11sINFOobjective_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 + 25.12sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.40sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 25.40sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.45sINFOros2_control_node[2026-10-11 06:32:32.599] [info] Received new action goal ×2 + 25.45sINFOros2_control_node[2026-10-11 06:32:32.599] [info] Accepted new action goal ×2 + 25.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574275 ms (missed cycles : 4). + 25.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574275 ms (missed cycles : 4).[0m ×2 + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001949 ms (missed cycles : 3). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001949 ms (missed cycles : 3).[0m ×2 + 27.58sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 27.58sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.59sINFOros2_control_node[2026-10-11 06:32:34.746] [info] Received new action goal ×2 + 27.59sINFOros2_control_node[2026-10-11 06:32:34.746] [info] Accepted new action goal ×2 + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946296 ms (missed cycles : 2). + 27.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946296 ms (missed cycles : 2).[0m ×2 + 28.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485238 ms (missed cycles : 4). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485238 ms (missed cycles : 4).[0m ×2 + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691594 ms (missed cycles : 2). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691594 ms (missed cycles : 2).[0m ×2 + 30.14sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 30.58sINFOros2_control_node[2026-10-11 06:32:37.736] [info] Received new action goal ×2 + 30.58sINFOros2_control_node[2026-10-11 06:32:37.736] [info] Accepted new action goal ×2 + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974351 ms (missed cycles : 2). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974351 ms (missed cycles : 2).[0m ×2 + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594264 ms (missed cycles : 2). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594264 ms (missed cycles : 2).[0m ×2 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450107 ms (missed cycles : 4). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450107 ms (missed cycles : 4).[0m ×2 + 33.19sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 33.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.25sINFOros2_control_node[2026-10-11 06:32:40.399] [info] Received new action goal ×2 + 33.25sINFOros2_control_node[2026-10-11 06:32:40.399] [info] Accepted new action goal ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637498 ms (missed cycles : 3). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637498 ms (missed cycles : 3).[0m ×2 + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743698 ms (missed cycles : 2). + 35.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743698 ms (missed cycles : 2).[0m ×2 + 36.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013867 ms (missed cycles : 2). + 36.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013867 ms (missed cycles : 2).[0m ×2 + 37.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854223 ms (missed cycles : 2). + 37.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854223 ms (missed cycles : 2).[0m ×2 + 38.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520225 ms (missed cycles : 4). + 38.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520225 ms (missed cycles : 4).[0m ×2 + 39.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074653 ms (missed cycles : 2). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074653 ms (missed cycles : 2).[0m ×2 + 40.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391194 ms (missed cycles : 2). + 40.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391194 ms (missed cycles : 2).[0m ×2 + 41.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893923 ms (missed cycles : 4). + 41.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.893923 ms (missed cycles : 4).[0m ×2 + 42.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856623 ms (missed cycles : 3). + 42.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856623 ms (missed cycles : 3).[0m ×2 + 44.09sINFOros2_control_node[2026-10-11 06:32:51.247] [info] Received new action goal ×2 + 44.10sINFOros2_control_node[2026-10-11 06:32:51.247] [info] Accepted new action goal ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737748 ms (missed cycles : 5). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737748 ms (missed cycles : 5).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804684 ms (missed cycles : 3). + 45.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804684 ms (missed cycles : 3).[0m ×2 + 45.25sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791700372.40401769 seconds ×3 + 45.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.83sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.05sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791700373.20551491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452763 ms (missed cycles : 3). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452763 ms (missed cycles : 3).[0m ×2 + 47.08sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 47.10sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.11sINFOros2_control_node[2026-10-11 06:32:54.260] [info] Received new action goal ×2 + 47.11sINFOros2_control_node[2026-10-11 06:32:54.260] [info] Accepted new action goal ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605391 ms (missed cycles : 3). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605391 ms (missed cycles : 3).[0m ×2 + 48.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 48.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666299 ms (missed cycles : 3). + 48.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666299 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 38.0s | 3 errors · 139 warnings · 296 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165777 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165777 ms (missed cycles : 4).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814557 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814557 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797408 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797408 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_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: 1791700494.32705331 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327669 ms (missed cycles : 5). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327669 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.54sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.54sINFOobjective_server_nodecaller: ×8 + 3.54sINFOobjective_server_nodetype: 0 ×8 + 3.54sINFOobjective_server_nodename: "" ×8 + 3.54sINFOobjective_server_nodeinstance_id: "" ×8 + 3.54sINFOobjective_server_node ×8 + 3.63sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791700494.95786095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517031 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517031 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-10-11 06:34:55.992] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-11 06:34:55.992] [info] Accepted new action goal ×2 + 5.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×4 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606516 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606516 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.727825 ms (missed cycles : 7). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.727825 ms (missed cycles : 7).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557150 ms (missed cycles : 4). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557150 ms (missed cycles : 4).[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821384 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821384 ms (missed cycles : 2).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682739 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682739 ms (missed cycles : 2).[0m ×2 + 10.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155442 ms (missed cycles : 5). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155442 ms (missed cycles : 5).[0m ×2 + 11.21sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 11.23sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 11.29sINFOros2_control_node[2026-10-11 06:35:02.616] [info] Received new action goal ×2 + 11.29sINFOros2_control_node[2026-10-11 06:35:02.616] [info] Accepted new action goal ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793156 ms (missed cycles : 5). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793156 ms (missed cycles : 5).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808482 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808482 ms (missed cycles : 2).[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830103 ms (missed cycles : 2). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830103 ms (missed cycles : 2).[0m ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771081 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771081 ms (missed cycles : 3).[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.439702 ms (missed cycles : 4). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.439702 ms (missed cycles : 4).[0m ×2 + 16.75sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589372 ms (missed cycles : 3). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589372 ms (missed cycles : 3).[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884058 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884058 ms (missed cycles : 3).[0m ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212328 ms (missed cycles : 2). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212328 ms (missed cycles : 2).[0m ×2 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463706 ms (missed cycles : 2). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463706 ms (missed cycles : 2).[0m ×2 + 21.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 21.14sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 21.15sINFOros2_control_node[2026-10-11 06:35:12.476] [info] Received new action goal ×2 + 21.15sINFOros2_control_node[2026-10-11 06:35:12.476] [info] Accepted new action goal ×2 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249398 ms (missed cycles : 3). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249398 ms (missed cycles : 3).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829060 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829060 ms (missed cycles : 2).[0m ×2 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360247 ms (missed cycles : 2). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360247 ms (missed cycles : 2).[0m ×2 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467870 ms (missed cycles : 4). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467870 ms (missed cycles : 4).[0m ×2 + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737482 ms (missed cycles : 3). + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737482 ms (missed cycles : 3).[0m ×2 + 27.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557427 ms (missed cycles : 3). + 27.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557427 ms (missed cycles : 3).[0m ×2 + 27.69sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 27.71sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 27.75sINFOros2_control_node[2026-10-11 06:35:19.084] [info] Received new action goal ×2 + 27.75sINFOros2_control_node[2026-10-11 06:35:19.084] [info] Accepted new action goal ×2 + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171914 ms (missed cycles : 2). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171914 ms (missed cycles : 2).[0m ×2 + 28.76sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509901 ms (missed cycles : 6). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509901 ms (missed cycles : 6).[0m ×2 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598784 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598784 ms (missed cycles : 2).[0m ×2 + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718363 ms (missed cycles : 2). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718363 ms (missed cycles : 2).[0m ×2 + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824532 ms (missed cycles : 3). + 32.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824532 ms (missed cycles : 3).[0m ×2 + 33.29sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677805 ms (missed cycles : 2). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677805 ms (missed cycles : 2).[0m ×2 + 34.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630508 ms (missed cycles : 2). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630508 ms (missed cycles : 2).[0m ×2 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674429 ms (missed cycles : 2). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674429 ms (missed cycles : 2).[0m ×2 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677750 ms (missed cycles : 2). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677750 ms (missed cycles : 2).[0m ×2 + 37.19sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 37.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 37.22sINFOros2_control_node[2026-10-11 06:35:28.548] [info] Received new action goal ×2 + 37.22sINFOros2_control_node[2026-10-11 06:35:28.548] [info] Accepted new action goal ×2 + 38.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103775 ms (missed cycles : 5). + 38.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103775 ms (missed cycles : 5).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 39.96sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 41.01sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 41.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 41.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 41.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 41.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 41.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 41.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 41.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 42.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 42.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 42.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 42.60sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 42.62sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 42.62sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 43.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 43.24sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 43.30sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 43.42sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 43.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 43.43sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 43.43sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 13834 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2273 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2273 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4546 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4546 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155517 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155517 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687775 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687775 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619363 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619363 ms (missed cycles : 2).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765978 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765978 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791700428.56338692 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.84sINFOobjective_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: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.94sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791700429.21468711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-10-11 06:33:49.368] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-10-11 06:33:49.368] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207988 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207988 ms (missed cycles : 2).[0m ×2 + 5.33sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332544 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.332544 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_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 + 5.43sINFOobjective_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 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128053 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128053 ms (missed cycles : 2).[0m ×2 + 7.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×4 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901479 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901479 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665319 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665319 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002135 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002135 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793540 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793540 ms (missed cycles : 2).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358518 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358518 ms (missed cycles : 3).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872468 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872468 ms (missed cycles : 2).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270367 ms (missed cycles : 3). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270367 ms (missed cycles : 3).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.551526 ms (missed cycles : 7). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.551526 ms (missed cycles : 7).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125873 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125873 ms (missed cycles : 2).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768765 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768765 ms (missed cycles : 2).[0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815546 ms (missed cycles : 3). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815546 ms (missed cycles : 3).[0m ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671745 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671745 ms (missed cycles : 2).[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523254 ms (missed cycles : 4). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523254 ms (missed cycles : 4).[0m ×2 + 21.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048935 ms (missed cycles : 2). + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048935 ms (missed cycles : 2).[0m ×2 + 21.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212735 ms (missed cycles : 5). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.212735 ms (missed cycles : 5).[0m ×2 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2).[0m ×2 + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3).[0m ×2 + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2).[0m ×2 + 25.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791700450.70817852 seconds ×3 + 26.08sINFOobjective_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: ""
+ 26.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791700451.45304704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2).[0m ×2 + 26.38sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 26.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.39sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Received new action goal ×2 + 26.39sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Accepted new action goal ×2 + 27.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2).[0m ×2 + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 21.6s | 3 errors · 86 warnings · 189 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.18sINFOobjective_server_nodeFound path in 1 iterations (0.00430803 s). ×2 + 0.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.44sINFOros2_control_node[2026-10-11 06:31:29.469] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-10-11 06:31:29.469] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754586 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754586 ms (missed cycles : 3).[0m ×2 + 0.88sINFOros2_control_node[2026-10-11 06:31:29.901] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-10-11 06:31:29.901] [info] Accepted new action goal ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517589 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517589 ms (missed cycles : 3).[0m ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.90sINFOobjective_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 + 2.90sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.90sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447367 ms (missed cycles : 4). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447367 ms (missed cycles : 4).[0m ×2 + 2.94sERRORobjective_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: 1791700291.96375155 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791700292.77495480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024157 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024157 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.77sINFOros2_control_node[2026-10-11 06:31:33.799] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-10-11 06:31:33.799] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205309 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205309 ms (missed cycles : 5).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×4 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668785 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668785 ms (missed cycles : 2).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713682 ms (missed cycles : 3). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713682 ms (missed cycles : 3).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474070 ms (missed cycles : 3). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474070 ms (missed cycles : 3).[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991064 ms (missed cycles : 2). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991064 ms (missed cycles : 2).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.088248 ms (missed cycles : 8). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.088248 ms (missed cycles : 8).[0m ×2 + 11.01sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 11.02sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 11.07sINFOros2_control_node[2026-10-11 06:31:40.098] [info] Received new action goal ×2 + 11.07sINFOros2_control_node[2026-10-11 06:31:40.098] [info] Accepted new action goal ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276888 ms (missed cycles : 4). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276888 ms (missed cycles : 4).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415158 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415158 ms (missed cycles : 3).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800759 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800759 ms (missed cycles : 3).[0m ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176738 ms (missed cycles : 4). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176738 ms (missed cycles : 4).[0m ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757108 ms (missed cycles : 3). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757108 ms (missed cycles : 3).[0m ×2 + 16.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361038 ms (missed cycles : 3). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361038 ms (missed cycles : 3).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218170 ms (missed cycles : 2). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218170 ms (missed cycles : 2).[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480212 ms (missed cycles : 3). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480212 ms (missed cycles : 3).[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688747 ms (missed cycles : 3). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688747 ms (missed cycles : 3).[0m ×2 + 20.48sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 20.59sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 20.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 20.60sINFOros2_control_node[2026-10-11 06:31:49.629] [info] Received new action goal ×2 + 20.60sINFOros2_control_node[2026-10-11 06:31:49.629] [info] Accepted new action goal ×2 + 21.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258966 ms (missed cycles : 3). + 21.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258966 ms (missed cycles : 3).[0m ×2 + 21.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896306 ms (missed cycles : 5). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896306 ms (missed cycles : 5).[0m ×2 + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579677 ms (missed cycles : 2). + 23.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579677 ms (missed cycles : 2).[0m ×2 + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835710 ms (missed cycles : 3). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835710 ms (missed cycles : 3).[0m ×2 + 24.52sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791700313.54485869 seconds ×3 + 25.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.06sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 25.20sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791700314.22803998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573927 ms (missed cycles : 3). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573927 ms (missed cycles : 3).[0m ×2 + 25.36sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 25.36sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 25.38sINFOros2_control_node[2026-10-11 06:31:54.402] [info] Received new action goal ×2 + 25.38sINFOros2_control_node[2026-10-11 06:31:54.402] [info] Accepted new action goal ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.925048 ms (missed cycles : 9). + 26.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.925048 ms (missed cycles : 9).[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139758 ms (missed cycles : 5). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139758 ms (missed cycles : 5).[0m ×2 + 28.14sINFOros2_control_node[2026-10-11 06:31:57.170] [info] Received new action goal ×2 + 28.14sINFOros2_control_node[2026-10-11 06:31:57.170] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.4s | 77 errors · 42 warnings · 471 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[2026-10-11 06:35:44.825] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791700544.83068490 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.02sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700545.44075227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700546.70090175 seconds ×3 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.49sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791700547.31236196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.49sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.49sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.49sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791700547.31406999 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791700547.92200851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791700547.94288898 seconds ×3 + 3.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.307086 ms (missed cycles : 6). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.307086 ms (missed cycles : 6).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700548.66614938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995448 ms (missed cycles : 6). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995448 ms (missed cycles : 6).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700550.76085615 seconds ×3 + 5.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511885 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511885 ms (missed cycles : 3).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776384 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776384 ms (missed cycles : 2).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011917 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011917 ms (missed cycles : 2).[0m ×2 + 8.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823998 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823998 ms (missed cycles : 2).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424340 ms (missed cycles : 3). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424340 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141932 ms (missed cycles : 5). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141932 ms (missed cycles : 5).[0m ×2 + 11.75sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 11.76sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORweb_video_auth_proxy-25process has died [pid 8332, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.76sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 11.76sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORweb_bridge_auth_proxy-24process has died [pid 8330, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.76sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 11.77sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 11.78sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 11.78sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 11.78sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.79sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.79sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.80sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.80sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.81sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 11.81sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.81sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.82sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.82sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.83sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.83sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.84sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.84sINFOcontroller_managerShutdown request received.... + 11.84sINFOvideo_server2026/10/11 06:35:56 INF shutting down gracefully ×2 + 11.84sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.84sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.84sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.84sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.84sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.84sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.84sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.84sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.84sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.84sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.84sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.84sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.84sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.84sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.84sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 11.84sINFOcontroller_managerShutting down the controller manager. + 11.84sINFOvideo_server2026/10/11 06:35:56 INF [WebRTC] closing ×2 + 11.84sINFOvideo_server2026/10/11 06:35:56 INF [RTSP] closing ×2 + 11.84sINFOvideo_server2026/10/11 06:35:56 INF waiting for running hooks ×2 + 11.84sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.84sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.84sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.84sERRORmove_groupStack trace (most recent call last) in thread 8727: ×2 + 11.84sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.84sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.84sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.84sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.84sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.84sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.84sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.84sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.84sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.84sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.84sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.84sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.84sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.84sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.84sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.85sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.85sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.85sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.85sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.85sINFOvideo_server-23process has finished cleanly [pid 8329] ×2 + 11.85sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.85sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.85sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1f06717cc3, in __clone ×2 + 11.85sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1f0668ab83, in ×2 + 11.85sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1f0691bdb3, in ×2 + 11.85sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f1f07083f14, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.85sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1f06caf620, in rclcpp::Rate::sleep() ×2 + 11.85sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1f06bf1d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.85sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1f06bb3087, in ×2 + 11.85sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1f068ea390, in __cxa_throw ×2 + 11.85sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1f068d4a54, in std::terminate() ×2 + 11.85sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1f068ea0d9, in ×2 + 11.85sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1f068d4ff4, in ×2 + 11.85sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1f066168fe, in abort ×2 + 11.85sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1f0663327d, in raise ×2 + 11.85sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1f0668cc0c, in pthread_kill ×2 + 11.85sERRORmove_groupAborted (Signal sent by tkill() 8246 0) ×2 + 11.86sERRORmove_group-9process has died [pid 8246, 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_3ho21wok --params-file /tmp/launch_params_qbxzueuu --params-file /tmp/launch_params_yoxonous --params-file /tmp/launch_params_7v0edky3 --params-file /tmp/launch_params_rgmw1lbg --params-file /tmp/launch_params_qvxu5gm1']. ×2 + 12.05sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.05sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.05sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.81sERRORjoint_state_visualization_relayTraceback (most recent call last): ×2 + 12.81sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/joint_state_visualization_relay", line 33, in <module> ×2 + 12.81sINFOjoint_state_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'joint_state_visualization_relay')()) ×2 + 12.81sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.81sINFOjoint_state_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/joint_state_visualization_relay.py", line 95, in main ×2 + 12.81sINFOjoint_state_visualization_relayrclpy.spin(node) ×2 + 12.81sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.81sINFOjoint_state_visualization_relayexecutor.spin_once() ×2 + 12.81sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.81sINFOjoint_state_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.81sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.81sINFOjoint_state_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.81sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.81sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.81sINFOjoint_state_visualization_relayreturn next(self._cb_iter) ×2 + 12.81sINFOjoint_state_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.81sINFOjoint_state_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.81sINFOjoint_state_visualization_relayraise ExternalShutdownException() ×2 + 12.81sINFOjoint_state_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.81sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 12.81sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 12.81sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 12.81sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.81sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 12.81sINFOtf_visualization_relayrclpy.spin(node) ×2 + 12.81sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.81sINFOtf_visualization_relayexecutor.spin_once() ×2 + 12.81sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.81sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 12.81sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.81sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.81sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.81sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.81sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 12.81sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 12.81sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.81sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 12.81sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 12.82sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8328] ×2 + 12.82sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 12.87sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8250] ×2 + 12.87sERRORjoint_state_visualization_relay-21process has died [pid 8327, 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_gmq0nlko']. ×2 + 12.87sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 12.87sERRORtf_visualization_relay-20process has died [pid 8319, 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_e3a23e0g']. ×2 + 12.87sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 12.87sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8249] ×2 + 12.90sINFOparameter_manager_node-10process has finished cleanly [pid 8247] ×2 + 12.91sINFOui_teleop_bridge-18process has finished cleanly [pid 8255] ×2 + 12.91sINFOwaypoint_manager_node-11process has finished cleanly [pid 8248] ×2 + 12.91sINFOexecute_objective_bridge-17process has finished cleanly [pid 8254] ×2 + 12.97sINFOcomponent_container_mt-16process has finished cleanly [pid 8253] ×2 + 13.04sINFOobjective_server_node[0;m[2026-10-11 06:35:57.868] [moveit_pro_license] [info] ×2 + 13.04sINFOobjective_server_node************************************************* ×4 + 13.04sINFOobjective_server_node* MoveIt Pro License ×2 + 13.04sINFOobjective_server_node* Application has successfully terminated ×2 + 13.18sINFOobjective_server_node_main-14process has finished cleanly [pid 8251] ×2 + 13.18sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 14.01sINFOcomponent_container_mt-15process has finished cleanly [pid 8252] ×2 + 14.32sINFOweb_bridge-19process has finished cleanly [pid 8256] ×2 + 14.32sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.49sINFOros2_control_node-1process has finished cleanly [pid 8195] ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.2s | 59 warnings · 203 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896306 ms (missed cycles : 5). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896306 ms (missed cycles : 5).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579677 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579677 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835710 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835710 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791700313.54485869 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.07sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.07sINFOobjective_server_nodecaller: ×6 + 3.07sINFOobjective_server_nodetype: 0 ×6 + 3.07sINFOobjective_server_nodename: "" ×6 + 3.07sINFOobjective_server_nodeinstance_id: "" ×6 + 3.07sINFOobjective_server_node ×6 + 3.21sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791700314.22803998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573927 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573927 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.38sINFOros2_control_node[2026-10-11 06:31:54.402] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-10-11 06:31:54.402] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.925048 ms (missed cycles : 9). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.925048 ms (missed cycles : 9).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139758 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.139758 ms (missed cycles : 5).[0m ×2 + 6.15sINFOros2_control_node[2026-10-11 06:31:57.170] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-10-11 06:31:57.170] [info] Accepted new action goal ×2 + 6.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665404 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665404 ms (missed cycles : 3).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742463 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742463 ms (missed cycles : 2).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971800 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971800 ms (missed cycles : 2).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498680 ms (missed cycles : 4). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498680 ms (missed cycles : 4).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030530 ms (missed cycles : 5). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030530 ms (missed cycles : 5).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828258 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828258 ms (missed cycles : 2).[0m ×2 + 12.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855559 ms (missed cycles : 3). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855559 ms (missed cycles : 3).[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888948 ms (missed cycles : 2). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888948 ms (missed cycles : 2).[0m ×2 + 14.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791700325.74184704 seconds ×3 + 15.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.27sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.33sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791700326.34386730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.38sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416900 ms (missed cycles : 3). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416900 ms (missed cycles : 3).[0m ×2 + 15.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791700326.41399097 seconds ×3 + 16.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.14sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.19sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.30sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 16.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.31sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 16.31sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 17.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 18.31sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 59 warnings · 220 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856623 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856623 ms (missed cycles : 3).[0m ×2 + 0.26sINFOobjective_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 + 0.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.27sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.27sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.27sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.27sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.18sINFOros2_control_node[2026-10-11 06:32:51.247] [info] Received new action goal ×2 + 1.18sINFOros2_control_node[2026-10-11 06:32:51.247] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737748 ms (missed cycles : 5). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737748 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804684 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804684 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791700372.40401769 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 3.13sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791700373.20551491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452763 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452763 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.19sINFOros2_control_node[2026-10-11 06:32:54.260] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-10-11 06:32:54.260] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605391 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605391 ms (missed cycles : 3).[0m ×2 + 5.20sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666299 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666299 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026683 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026683 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339837 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339837 ms (missed cycles : 4).[0m ×2 + 7.89sINFOobjective_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 + 7.89sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.89sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.89sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.89sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163435 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163435 ms (missed cycles : 3).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382361 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382361 ms (missed cycles : 2).[0m ×2 + 10.33sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 10.35sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.36sINFOros2_control_node[2026-10-11 06:33:00.432] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-10-11 06:33:00.432] [info] Accepted new action goal ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556304 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556304 ms (missed cycles : 2).[0m ×2 + 10.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708272 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708272 ms (missed cycles : 3).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.049202 ms (missed cycles : 5). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.049202 ms (missed cycles : 5).[0m ×2 + 13.97sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791700384.03777909 seconds ×3 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198060 ms (missed cycles : 5). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198060 ms (missed cycles : 5).[0m ×2 + 14.52sINFOobjective_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: ""
+ 14.52sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791700384.67017555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 14.76sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.76sINFOros2_control_node[2026-10-11 06:33:04.834] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-10-11 06:33:04.834] [info] Accepted new action goal ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570033 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570033 ms (missed cycles : 3).[0m ×2 + 16.03sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413527 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413527 ms (missed cycles : 2).[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188925 ms (missed cycles : 2). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188925 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 54 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143597 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143597 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379295 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379295 ms (missed cycles : 3).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 1.66sINFOros2_control_node[2026-10-11 06:30:35.727] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-10-11 06:30:35.727] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.250595 ms (missed cycles : 8). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.250595 ms (missed cycles : 8).[0m ×2 + 2.25sINFOobjective_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 + 2.26sINFOros2_control_node[2026-10-11 06:30:36.333] [info] Got request to cancel active goal. ×2 + 2.26sINFOros2_control_node[2026-10-11 06:30:36.333] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1791700236.34938979 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791700236.99863362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.15sINFOros2_control_node[2026-10-11 06:30:37.223] [info] Received new action goal ×2 + 3.15sINFOros2_control_node[2026-10-11 06:30:37.223] [info] Accepted new action goal ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113953 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113953 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696222 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696222 ms (missed cycles : 2).[0m ×2 + 5.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886450 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886450 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.43sINFOros2_control_node[2026-10-11 06:30:39.502] [info] Received new action goal ×2 + 5.43sINFOros2_control_node[2026-10-11 06:30:39.503] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849875 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849875 ms (missed cycles : 2).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552410 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552410 ms (missed cycles : 3).[0m ×2 + 8.37sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803330 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803330 ms (missed cycles : 2).[0m ×2 + 9.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.55sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 9.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 9.97sINFOobjective_server_nodeFound path in 1 iterations (0.00287761 s). ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487983 ms (missed cycles : 4). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487983 ms (missed cycles : 4).[0m ×2 + 10.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 10.21sINFOros2_control_node[2026-10-11 06:30:44.282] [info] Received new action goal ×2 + 10.21sINFOros2_control_node[2026-10-11 06:30:44.282] [info] Accepted new action goal ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4).[0m ×2 + 12.69sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Received new action goal ×2 + 12.69sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Accepted new action goal ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3).[0m ×2 + 13.36sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Got request to cancel active goal. ×2 + 13.36sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Canceling active goal... ×2 + 13.38sERRORobjective_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: 1791700247.44666767 seconds ×3 + 13.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.03sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791700248.09985757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791700248.17999363 seconds ×3 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4).[0m ×2 + 14.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 14.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791700248.86284757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 14.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.99sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Received new action goal ×2 + 14.99sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Accepted new action goal ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 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 + 0.28sERRORobjective_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: 1791700278.12319350 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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582656 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582656 ms (missed cycles : 5).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435147 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435147 ms (missed cycles : 3).[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493781 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493781 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393626 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393626 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.66sINFOobjective_server_nodecaller: ×4 + 3.66sINFOobjective_server_nodetype: 0 ×4 + 3.66sINFOobjective_server_nodename: "" ×4 + 3.66sINFOobjective_server_nodeinstance_id: "" ×4 + 3.66sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791700281.57981062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.99sINFOros2_control_node[2026-10-11 06:31:21.808] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-10-11 06:31:21.808] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247348 ms (missed cycles : 5). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247348 ms (missed cycles : 5).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×4 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012569 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012569 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625391 ms (missed cycles : 4). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625391 ms (missed cycles : 4).[0m ×2 + 6.79sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.63sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920404 ms (missed cycles : 4). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920404 ms (missed cycles : 4).[0m ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (2.05e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.05sINFOobjective_server_nodeFound path in 5 iterations (0.00469656 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.67sINFOros2_control_node[2026-10-11 06:31:26.487] [info] Received new action goal ×2 + 8.67sINFOros2_control_node[2026-10-11 06:31:26.487] [info] Accepted new action goal ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301772 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301772 ms (missed cycles : 2).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548059 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548059 ms (missed cycles : 3).[0m ×2 + 10.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628050 ms (missed cycles : 4). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628050 ms (missed cycles : 4).[0m ×2 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 11.20sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 11.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.23sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 11.38sINFOobjective_server_nodeFound path in 1 iterations (0.00430803 s). ×2 + 11.56sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.65sINFOros2_control_node[2026-10-11 06:31:29.469] [info] Received new action goal ×2 + 11.65sINFOros2_control_node[2026-10-11 06:31:29.469] [info] Accepted new action goal ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754586 ms (missed cycles : 3). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754586 ms (missed cycles : 3).[0m ×2 + 12.08sINFOros2_control_node[2026-10-11 06:31:29.901] [info] Received new action goal ×2 + 12.08sINFOros2_control_node[2026-10-11 06:31:29.901] [info] Accepted new action goal ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517589 ms (missed cycles : 3). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517589 ms (missed cycles : 3).[0m ×2 + 14.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447367 ms (missed cycles : 4). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447367 ms (missed cycles : 4).[0m ×2 + 14.14sERRORobjective_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: 1791700291.96375155 seconds ×3 + 14.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.82sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.95sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791700292.77495480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024157 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024157 ms (missed cycles : 2).[0m ×2 + 15.97sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 15.98sINFOros2_control_node[2026-10-11 06:31:33.799] [info] Received new action goal ×2 + 15.98sINFOros2_control_node[2026-10-11 06:31:33.799] [info] Accepted new action goal ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205309 ms (missed cycles : 5). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205309 ms (missed cycles : 5).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668785 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668785 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 54 warnings · 2322 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791700450.70817852 seconds ×3 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.94sINFOobjective_server_nodecaller: ×4 + 3.94sINFOobjective_server_nodetype: 0 ×4 + 3.94sINFOobjective_server_nodename: "" ×4 + 3.94sINFOobjective_server_nodeinstance_id: "" ×4 + 3.94sINFOobjective_server_node ×4 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791700451.45304704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Accepted new action goal ×2 + 4.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992854 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992854 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880482 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880482 ms (missed cycles : 2).[0m ×2 + 8.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.78sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 9.07sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 9.09sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.22sINFOobjective_server_nodeFound path in 1 iterations (0.00487902 s). ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365960 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365960 ms (missed cycles : 3).[0m ×2 + 9.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.52sINFOros2_control_node[2026-10-11 06:34:16.931] [info] Received new action goal ×2 + 9.52sINFOros2_control_node[2026-10-11 06:34:16.931] [info] Accepted new action goal ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785937 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785937 ms (missed cycles : 2).[0m ×2 + 10.97sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 11.82sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 11.82sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 13.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.45sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 13.45sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 14.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 14.41sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 14.42sERRORobjective_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: 1791700461.83812618 seconds ×3 + 14.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 15.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 15.29sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 15.29sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 16.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 17.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.20sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.33sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.024057 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.024057 ms (missed cycles : 5).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658920 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.658920 ms (missed cycles : 4).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771879 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771879 ms (missed cycles : 3).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226169 ms (missed cycles : 5). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226169 ms (missed cycles : 5).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972863 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972863 ms (missed cycles : 2).[0m ×2 + 10.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124970 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124970 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126751 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126751 ms (missed cycles : 2).[0m ×2 + 13.75sERRORobjective_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: 1791700472.83013129 seconds ×3 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657735 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657735 ms (missed cycles : 3).[0m ×2 + 14.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.32sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791700473.49377346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 14.74sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.76sINFOros2_control_node[2026-10-11 06:34:33.841] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-10-11 06:34:33.841] [info] Accepted new action goal ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434970 ms (missed cycles : 3). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434970 ms (missed cycles : 3).[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097508 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097508 ms (missed cycles : 2).[0m ×2 + 16.14sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150409 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150409 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012249 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.012249 ms (missed cycles : 6).[0m ×2 + 7.12sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.12sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.13sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.43sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.44sINFOobjective_server_nodeFound path in 0 iterations (2.03e-07 s). ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.49sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 5 iterations (0.00444214 s). ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484481 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484481 ms (missed cycles : 3).[0m ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (2.13e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (2.02e-07 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.22sINFOros2_control_node[2026-10-11 06:31:15.559] [info] Received new action goal ×2 + 8.22sINFOros2_control_node[2026-10-11 06:31:15.559] [info] Accepted new action goal ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294337 ms (missed cycles : 5). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.294337 ms (missed cycles : 5).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952534 ms (missed cycles : 6). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952534 ms (missed cycles : 6).[0m ×2 + 9.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 10.49sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.75sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.75sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.76sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791700278.12319350 seconds ×3 + 10.79sINFOobjective_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 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582656 ms (missed cycles : 5). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582656 ms (missed cycles : 5).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435147 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435147 ms (missed cycles : 3).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493781 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493781 ms (missed cycles : 2).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393626 ms (missed cycles : 3). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393626 ms (missed cycles : 3).[0m ×2 + 14.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.15sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.24sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791700281.57981062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 14.47sINFOros2_control_node[2026-10-11 06:31:21.808] [info] Received new action goal ×2 + 14.47sINFOros2_control_node[2026-10-11 06:31:21.808] [info] Accepted new action goal ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247348 ms (missed cycles : 5). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247348 ms (missed cycles : 5).[0m ×2 + 15.83sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012569 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012569 ms (missed cycles : 2).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625391 ms (missed cycles : 4). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.625391 ms (missed cycles : 4).[0m ×2 + 17.28sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 54 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 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 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.12sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.70sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692117 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692117 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.23sINFOros2_control_node[2026-10-11 06:30:28.717] [info] Received new action goal ×2 + 6.23sINFOros2_control_node[2026-10-11 06:30:28.717] [info] Accepted new action goal ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591974 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591974 ms (missed cycles : 4).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817453 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817453 ms (missed cycles : 2).[0m ×2 + 8.72sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576363 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576363 ms (missed cycles : 2).[0m ×2 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (9.12e-07 s). ×2 + 9.87sINFOros2_control_node[2026-10-11 06:30:32.357] [info] Received new action goal ×2 + 9.87sINFOros2_control_node[2026-10-11 06:30:32.357] [info] Accepted new action goal ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720340 ms (missed cycles : 5). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720340 ms (missed cycles : 5).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143597 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143597 ms (missed cycles : 3).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379295 ms (missed cycles : 3). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379295 ms (missed cycles : 3).[0m ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.24sINFOros2_control_node[2026-10-11 06:30:35.727] [info] Received new action goal ×2 + 13.24sINFOros2_control_node[2026-10-11 06:30:35.727] [info] Accepted new action goal ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.250595 ms (missed cycles : 8). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.250595 ms (missed cycles : 8).[0m ×2 + 13.83sINFOobjective_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 + 13.84sINFOros2_control_node[2026-10-11 06:30:36.333] [info] Got request to cancel active goal. ×2 + 13.84sINFOros2_control_node[2026-10-11 06:30:36.333] [info] Canceling active goal... ×2 + 13.86sERRORobjective_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: 1791700236.34938979 seconds ×3 + 13.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.39sINFOobjective_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: ""
+ 14.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791700236.99863362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 14.73sINFOros2_control_node[2026-10-11 06:30:37.223] [info] Received new action goal ×2 + 14.73sINFOros2_control_node[2026-10-11 06:30:37.223] [info] Accepted new action goal ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113953 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113953 ms (missed cycles : 2).[0m ×2 + 14.87sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696222 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696222 ms (missed cycles : 2).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886450 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886450 ms (missed cycles : 2).[0m ×2 + 16.99sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 17.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.01sINFOros2_control_node[2026-10-11 06:30:39.502] [info] Received new action goal ×2 + 17.01sINFOros2_control_node[2026-10-11 06:30:39.503] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 56 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924716 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924716 ms (missed cycles : 3).[0m ×2 + 0.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604126 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604126 ms (missed cycles : 6).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018019 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018019 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791700483.43469334 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580273 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580273 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791700484.08677101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.44sINFOros2_control_node[2026-10-11 06:34:44.211] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-10-11 06:34:44.211] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504677 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504677 ms (missed cycles : 6).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062916 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062916 ms (missed cycles : 5).[0m ×2 + 5.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825057 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825057 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376411 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376411 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277384 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277384 ms (missed cycles : 4).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898202 ms (missed cycles : 5). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898202 ms (missed cycles : 5).[0m ×2 + 10.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165777 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165777 ms (missed cycles : 4).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814557 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814557 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797408 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797408 ms (missed cycles : 3).[0m ×2 + 13.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.56sERRORobjective_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: 1791700494.32705331 seconds ×3 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327669 ms (missed cycles : 5). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327669 ms (missed cycles : 5).[0m ×2 + 14.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.10sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.19sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791700494.95786095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517031 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517031 ms (missed cycles : 2).[0m ×2 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 15.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.22sINFOros2_control_node[2026-10-11 06:34:55.992] [info] Received new action goal ×2 + 15.22sINFOros2_control_node[2026-10-11 06:34:55.992] [info] Accepted new action goal ×2 + 15.64sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606516 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606516 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.9s | 3 errors · 59 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 0.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.25sINFOobjective_server_nodecaller: ×12 + 2.25sINFOobjective_server_nodetype: 0 ×12 + 2.25sINFOobjective_server_nodename: "" ×12 + 2.25sINFOobjective_server_nodeinstance_id: "" ×12 + 2.25sINFOobjective_server_node ×12 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×4 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.36sINFOros2_control_node[2026-10-11 06:35:38.069] [info] Received new action goal ×2 + 7.36sINFOros2_control_node[2026-10-11 06:35:38.069] [info] Accepted new action goal ×2 + 7.36sINFOros2_control_node[2026-10-11 06:35:38.070] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153506 ms (missed cycles : 5). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.153506 ms (missed cycles : 5).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341346 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341346 ms (missed cycles : 2).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446844 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446844 ms (missed cycles : 2).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071605 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071605 ms (missed cycles : 2).[0m ×2 + 11.72sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215148 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215148 ms (missed cycles : 2).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5).[0m ×2 + 14.11sINFOobjective_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 + 14.12sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Got request to cancel active goal. ×2 + 14.12sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Canceling active goal... ×2 + 14.12sERRORobjective_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: 1791700544.83068490 seconds ×3 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2).[0m ×2 + 14.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700545.44075227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2).[0m ×2 + 15.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700546.70090175 seconds ×3 + 16.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.54sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.60sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791700547.31236196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.60sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.60sINFOobjective_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 + 16.60sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.60sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791700547.31406999 seconds ×3 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3).[0m ×2 + 17.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.15sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791700547.92200851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791700547.94288898 seconds ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791700258.29303169 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.70sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.70sINFOobjective_server_nodecaller: ×6 + 2.70sINFOobjective_server_nodetype: 0 ×6 + 2.70sINFOobjective_server_nodename: "" ×6 + 2.70sINFOobjective_server_nodeinstance_id: "" ×6 + 2.70sINFOobjective_server_node ×6 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791700258.91734409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791700259.00748610 seconds ×3 + 3.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791700259.69307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 7.03sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.05sINFOros2_control_node[2026-10-11 06:31:03.177] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-10-11 06:31:03.178] [info] Accepted new action goal ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291894 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.291894 ms (missed cycles : 3).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.619312 ms (missed cycles : 6). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.619312 ms (missed cycles : 6).[0m ×2 + 9.38sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 9.39sINFOros2_control_node[2026-10-11 06:31:05.514] [info] Received new action goal ×2 + 9.39sINFOros2_control_node[2026-10-11 06:31:05.514] [info] Accepted new action goal ×2 + 9.95sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039840 ms (missed cycles : 5). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039840 ms (missed cycles : 5).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 11.73sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 11.75sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 11.75sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[0m ×2 + 13.79sINFOobjective_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 + 13.80sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 13.80sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 13.81sERRORobjective_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: 1791700269.93598962 seconds ×3 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 14.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.66sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 16.05sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 56 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972863 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972863 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124970 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124970 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126751 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126751 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sERRORobjective_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: 1791700472.83013129 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657735 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657735 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791700473.49377346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.99sINFOros2_control_node[2026-10-11 06:34:33.841] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-10-11 06:34:33.841] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434970 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434970 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097508 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097508 ms (missed cycles : 2).[0m ×2 + 5.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150409 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150409 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015588 ms (missed cycles : 4). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015588 ms (missed cycles : 4).[0m ×2 + 8.00sINFOros2_control_node[2026-10-11 06:34:37.851] [info] Received new action goal ×2 + 8.00sINFOros2_control_node[2026-10-11 06:34:37.851] [info] Accepted new action goal ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152120 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152120 ms (missed cycles : 3).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.088318 ms (missed cycles : 6). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.088318 ms (missed cycles : 6).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924716 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924716 ms (missed cycles : 3).[0m ×2 + 11.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604126 ms (missed cycles : 6). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604126 ms (missed cycles : 6).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018019 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018019 ms (missed cycles : 2).[0m ×2 + 13.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791700483.43469334 seconds ×3 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580273 ms (missed cycles : 4). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580273 ms (missed cycles : 4).[0m ×2 + 14.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.13sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.24sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791700484.08677101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.35sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 14.35sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.36sINFOros2_control_node[2026-10-11 06:34:44.211] [info] Received new action goal ×2 + 14.36sINFOros2_control_node[2026-10-11 06:34:44.211] [info] Accepted new action goal ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504677 ms (missed cycles : 6). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504677 ms (missed cycles : 6).[0m ×2 + 16.27sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062916 ms (missed cycles : 5). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062916 ms (missed cycles : 5).[0m ×2 + 16.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.0s | 3 errors · 54 warnings · 276 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4).[0m ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1791700247.44666767 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.72sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.72sINFOobjective_server_nodecaller: ×8 + 2.72sINFOobjective_server_nodetype: 0 ×8 + 2.72sINFOobjective_server_nodename: "" ×8 + 2.72sINFOobjective_server_nodeinstance_id: "" ×8 + 2.72sINFOobjective_server_node ×8 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791700248.09985757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791700248.17999363 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791700248.86284757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.19sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.19sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.47sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.59sINFOobjective_server_nodeFound path in 1 iterations (0.00370705 s). ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.305803 ms (missed cycles : 6). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.305803 ms (missed cycles : 6).[0m ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.80sINFOros2_control_node[2026-10-11 06:30:53.070] [info] Received new action goal ×2 + 7.80sINFOros2_control_node[2026-10-11 06:30:53.070] [info] Accepted new action goal ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759386 ms (missed cycles : 7). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759386 ms (missed cycles : 7).[0m ×2 + 8.78sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644894 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644894 ms (missed cycles : 2).[0m ×2 + 10.11sINFOros2_control_node[2026-10-11 06:30:55.373] [info] Received new action goal ×2 + 10.11sINFOros2_control_node[2026-10-11 06:30:55.373] [info] Accepted new action goal ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2).[0m ×2 + 11.72sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.73sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Received new action goal ×2 + 11.73sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Accepted new action goal ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2).[0m ×2 + 13.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791700258.29303169 seconds ×3 + 13.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.56sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791700258.91734409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791700259.00748610 seconds ×3 + 14.20sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3).[0m ×2 + 14.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791700259.69307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 14.53sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.55sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Received new action goal ×2 + 14.55sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Accepted new action goal ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 33 warnings · 205 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855559 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855559 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888948 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888948 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791700325.74184704 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.10sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.10sINFOobjective_server_nodecaller: ×6 + 3.10sINFOobjective_server_nodetype: 0 ×6 + 3.10sINFOobjective_server_nodename: "" ×6 + 3.10sINFOobjective_server_nodeinstance_id: "" ×6 + 3.10sINFOobjective_server_node ×6 + 3.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791700326.34386730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416900 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416900 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791700326.41399097 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.02sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4).[0m ×2 + 7.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.69sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.77sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791700330.95720744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5).[0m ×2 + 7.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.86sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 8.18sINFOros2_control_node[2026-10-11 06:32:11.365] [info] Received new action goal ×2 + 8.18sINFOros2_control_node[2026-10-11 06:32:11.366] [info] Accepted new action goal ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2).[0m ×2 + 10.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 3 errors · 31 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071605 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071605 ms (missed cycles : 2).[0m ×2 + 0.67sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215148 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215148 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5).[0m ×2 + 3.06sINFOobjective_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 + 3.06sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791700544.83068490 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.61sINFOobjective_server_nodecaller: ×8 + 3.61sINFOobjective_server_nodetype: 0 ×8 + 3.61sINFOobjective_server_nodename: "" ×8 + 3.61sINFOobjective_server_nodeinstance_id: "" ×8 + 3.61sINFOobjective_server_node ×8 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700545.44075227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700546.70090175 seconds ×3 + 5.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791700547.31236196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.55sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791700547.31406999 seconds ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791700547.92200851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791700547.94288898 seconds ×3 + 6.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.82sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.307086 ms (missed cycles : 6). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.307086 ms (missed cycles : 6).[0m ×2 + 6.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700548.66614938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995448 ms (missed cycles : 6). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995448 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 27 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999976 ms (missed cycles : 2).[0m ×2 + 0.39sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 1.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×17 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.35sINFOobjective_server_nodecaller: ×14 + 2.35sINFOobjective_server_nodetype: 0 ×14 + 2.35sINFOobjective_server_nodename: "" ×14 + 2.35sINFOobjective_server_nodeinstance_id: "" ×14 + 2.35sINFOobjective_server_node ×14 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700220.97489810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700220.98508549 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791700221.58241940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 6.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 7.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.63sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 7.63sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.9s | 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103775 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103775 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 1.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.18sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4).[0m ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1791700247.44666767 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.72sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.72sINFOobjective_server_nodecaller: ×4 + 2.72sINFOobjective_server_nodetype: 0 ×4 + 2.72sINFOobjective_server_nodename: "" ×4 + 2.72sINFOobjective_server_nodeinstance_id: "" ×4 + 2.72sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791700248.09985757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791700248.17999363 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791700248.86284757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-10-11 06:30:55.373] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-11 06:30:55.373] [info] Accepted new action goal ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Accepted new action goal ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791700258.29303169 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791700258.91734409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791700259.00748610 seconds ×3 + 4.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791700259.69307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.44sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828258 ms (missed cycles : 2).[0m ×2 + 0.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855559 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855559 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888948 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888948 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791700325.74184704 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791700326.34386730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416900 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416900 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791700326.41399097 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 0.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.32sINFOobjective_server_nodecaller: ×14 + 1.32sINFOobjective_server_nodetype: 0 ×14 + 1.32sINFOobjective_server_nodename: "" ×14 + 1.32sINFOobjective_server_nodeinstance_id: "" ×14 + 1.32sINFOobjective_server_node ×14 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700220.97489810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700220.98508549 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791700221.58241940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 5.03sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 24 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5).[0m ×2 + 0.93sINFOobjective_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 + 0.94sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Got request to cancel active goal. ×2 + 0.94sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Canceling active goal... ×2 + 0.94sERRORobjective_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: 1791700544.83068490 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.49sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.49sINFOobjective_server_nodecaller: ×8 + 1.49sINFOobjective_server_nodetype: 0 ×8 + 1.49sINFOobjective_server_nodename: "" ×8 + 1.49sINFOobjective_server_nodeinstance_id: "" ×8 + 1.49sINFOobjective_server_node ×8 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700545.44075227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700546.70090175 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791700547.31236196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.42sINFOobjective_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 + 3.42sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.42sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791700547.31406999 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791700547.92200851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791700547.94288898 seconds ×3 + 4.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.307086 ms (missed cycles : 6). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.307086 ms (missed cycles : 6).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700548.66614938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995448 ms (missed cycles : 6). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995448 ms (missed cycles : 6).[0m ×2 + 6.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700550.76085615 seconds ×3 + 6.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511885 ms (missed cycles : 3). | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 0.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 23 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5).[0m ×2 + 0.93sINFOobjective_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 + 0.94sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Got request to cancel active goal. ×2 + 0.94sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Canceling active goal... ×2 + 0.94sERRORobjective_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: 1791700544.83068490 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.49sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.49sINFOobjective_server_nodecaller: ×8 + 1.49sINFOobjective_server_nodetype: 0 ×8 + 1.49sINFOobjective_server_nodename: "" ×8 + 1.49sINFOobjective_server_nodeinstance_id: "" ×8 + 1.49sINFOobjective_server_node ×8 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700545.44075227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700546.70090175 seconds ×3 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791700547.31236196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.42sINFOobjective_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 + 3.42sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.42sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791700547.31406999 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791700547.92200851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791700547.94288898 seconds ×3 + 4.22sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.69sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.307086 ms (missed cycles : 6). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.307086 ms (missed cycles : 6).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791700548.66614938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995448 ms (missed cycles : 6). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.995448 ms (missed cycles : 6).[0m ×2 + 6.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791700550.76085615 seconds ×3 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 20 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103775 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103775 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 1.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.18sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791700258.29303169 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791700258.91734409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791700259.00748610 seconds ×3 + 3.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791700259.69307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4).[0m ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1791700247.44666767 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.72sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.72sINFOobjective_server_nodecaller: ×4 + 2.72sINFOobjective_server_nodetype: 0 ×4 + 2.72sINFOobjective_server_nodename: "" ×4 + 2.72sINFOobjective_server_nodeinstance_id: "" ×4 + 2.72sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791700248.09985757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791700248.17999363 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791700248.86284757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4).[0m ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1791700247.44666767 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.72sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.72sINFOobjective_server_nodecaller: ×4 + 2.72sINFOobjective_server_nodetype: 0 ×4 + 2.72sINFOobjective_server_nodename: "" ×4 + 2.72sINFOobjective_server_nodeinstance_id: "" ×4 + 2.72sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791700248.09985757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791700248.17999363 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791700248.86284757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4).[0m ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1791700247.44666767 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.72sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.72sINFOobjective_server_nodecaller: ×4 + 2.72sINFOobjective_server_nodetype: 0 ×4 + 2.72sINFOobjective_server_nodename: "" ×4 + 2.72sINFOobjective_server_nodeinstance_id: "" ×4 + 2.72sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791700248.09985757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791700248.17999363 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791700248.86284757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4).[0m ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1791700247.44666767 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.72sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.72sINFOobjective_server_nodecaller: ×4 + 2.72sINFOobjective_server_nodetype: 0 ×4 + 2.72sINFOobjective_server_nodename: "" ×4 + 2.72sINFOobjective_server_nodeinstance_id: "" ×4 + 2.72sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791700248.09985757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791700248.17999363 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791700248.86284757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4).[0m ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1791700247.44666767 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.72sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.72sINFOobjective_server_nodecaller: ×4 + 2.72sINFOobjective_server_nodetype: 0 ×4 + 2.72sINFOobjective_server_nodename: "" ×4 + 2.72sINFOobjective_server_nodeinstance_id: "" ×4 + 2.72sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791700248.09985757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791700248.17999363 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791700248.86284757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 122 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483730 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389533 ms (missed cycles : 4).[0m ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-10-11 06:30:46.755] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3).[0m ×2 + 2.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Got request to cancel active goal. ×2 + 2.17sINFOros2_control_node[2026-10-11 06:30:47.433] [info] Canceling active goal... ×2 + 2.18sERRORobjective_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: 1791700247.44666767 seconds ×3 + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.72sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.72sINFOobjective_server_nodecaller: ×4 + 2.72sINFOobjective_server_nodetype: 0 ×4 + 2.72sINFOobjective_server_nodename: "" ×4 + 2.72sINFOobjective_server_nodeinstance_id: "" ×4 + 2.72sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791700248.09985757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791700248.17999363 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483952 ms (missed cycles : 4).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791700248.86284757 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-10-11 06:30:49.058] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248488 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690785 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077400 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791700258.29303169 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791700258.91734409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791700259.00748610 seconds ×3 + 3.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791700259.69307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791700258.29303169 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791700258.91734409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791700259.00748610 seconds ×3 + 3.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791700259.69307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791700258.29303169 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791700258.91734409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791700259.00748610 seconds ×3 + 3.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791700259.69307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238303 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-10-11 06:30:56.996] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.651639 ms (missed cycles : 8).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904054 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791700258.29303169 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.70sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.70sINFOobjective_server_nodecaller: ×4 + 2.70sINFOobjective_server_nodetype: 0 ×4 + 2.70sINFOobjective_server_nodename: "" ×4 + 2.70sINFOobjective_server_nodeinstance_id: "" ×4 + 2.70sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791700258.91734409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791700259.00748610 seconds ×3 + 3.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956782 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791700259.69307756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-10-11 06:30:59.817] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215155 ms (missed cycles : 3).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374494 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498715 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Detect AprilTags on Table | detect_apriltags_on_table.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Fresh Point Cloud | get_fresh_point_cloud.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471496 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-10-11 06:31:07.875] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794109 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735739 ms (missed cycles : 3).[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 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Got request to cancel active goal. ×2 + 2.60sINFOros2_control_node[2026-10-11 06:31:09.933] [info] Canceling active goal... ×2 + 2.60sERRORobjective_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: 1791700269.93598962 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.785589 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791700270.59091997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-10-11 06:31:10.785] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071495 ms (missed cycles : 5).[0m ×2 + 4.84sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765998 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 100 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.18sINFOobjective_server_nodeFound path in 1 iterations (0.00430803 s). ×2 + 0.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.44sINFOros2_control_node[2026-10-11 06:31:29.469] [info] Received new action goal ×2 + 0.44sINFOros2_control_node[2026-10-11 06:31:29.469] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754586 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754586 ms (missed cycles : 3).[0m ×2 + 0.88sINFOros2_control_node[2026-10-11 06:31:29.901] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-10-11 06:31:29.901] [info] Accepted new action goal ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517589 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517589 ms (missed cycles : 3).[0m ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.90sINFOobjective_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 + 2.90sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.90sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447367 ms (missed cycles : 4). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447367 ms (missed cycles : 4).[0m ×2 + 2.94sERRORobjective_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: 1791700291.96375155 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.75sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791700292.77495480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024157 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024157 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.77sINFOros2_control_node[2026-10-11 06:31:33.799] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-10-11 06:31:33.799] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205309 ms (missed cycles : 5). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205309 ms (missed cycles : 5).[0m ×2 + 5.25sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668785 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668785 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 22 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828258 ms (missed cycles : 2).[0m ×2 + 0.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855559 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855559 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888948 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888948 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791700325.74184704 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791700326.34386730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416900 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416900 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791700326.41399097 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.23sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791700330.95720744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5).[0m ×2 + 3.89sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.365] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.366] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791700330.95720744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5).[0m ×2 + 3.89sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.365] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.366] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791700330.95720744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5).[0m ×2 + 3.89sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.365] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.366] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791700330.95720744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5).[0m ×2 + 3.89sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.365] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.366] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791700330.95720744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5).[0m ×2 + 3.89sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.365] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.366] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791700330.95720744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5).[0m ×2 + 3.89sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.365] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.366] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791700327.21225119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-10-11 06:32:07.327] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847350 ms (missed cycles : 4).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913327 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791700329.33238387 seconds ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507448 ms (missed cycles : 4).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791700330.95720744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.072872 ms (missed cycles : 5).[0m ×2 + 3.89sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.365] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-10-11 06:32:11.366] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966285 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213837 ms (missed cycles : 2).[0m ×2 + 6.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556304 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556304 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708272 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708272 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.049202 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.049202 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791700384.03777909 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198060 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198060 ms (missed cycles : 5).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791700384.67017555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.93sINFOros2_control_node[2026-10-11 06:33:04.834] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-10-11 06:33:04.834] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570033 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570033 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_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 + 5.20sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.27sINFOobjective_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 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413527 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413527 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188925 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188925 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791700450.70817852 seconds ×3 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791700451.45304704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Accepted new action goal ×2 + 4.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791700450.70817852 seconds ×3 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791700451.45304704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Accepted new action goal ×2 + 4.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791700450.70817852 seconds ×3 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791700451.45304704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Accepted new action goal ×2 + 4.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791700450.70817852 seconds ×3 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791700451.45304704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Accepted new action goal ×2 + 4.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2206 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×353 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×353 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×706 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×706 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688957 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744895 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738789 ms (missed cycles : 2).[0m ×2 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791700450.70817852 seconds ×3 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_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: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791700451.45304704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922924 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-10-11 06:34:11.667] [info] Accepted new action goal ×2 + 4.98sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111673 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615613 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520853 ms (missed cycles : 4).[0m ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-10-11 06:34:19.233] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572781 ms (missed cycles : 3).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-10-11 06:34:20.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076446 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-10-11 06:34:21.823] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1791700461.83812618 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513247 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791700462.51955605 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-10-11 06:34:22.703] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882988 ms (missed cycles : 2).[0m ×2 + 4.36sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153468 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 25 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972863 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972863 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124970 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124970 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126751 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126751 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sERRORobjective_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: 1791700472.83013129 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657735 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657735 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.56sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791700473.49377346 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.99sINFOros2_control_node[2026-10-11 06:34:33.841] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-10-11 06:34:33.841] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434970 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434970 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097508 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097508 ms (missed cycles : 2).[0m ×2 + 5.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150409 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150409 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924716 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924716 ms (missed cycles : 3).[0m ×2 + 0.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604126 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604126 ms (missed cycles : 6).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018019 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018019 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791700483.43469334 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580273 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580273 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791700484.08677101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.44sINFOros2_control_node[2026-10-11 06:34:44.211] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-10-11 06:34:44.211] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504677 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.504677 ms (missed cycles : 6).[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062916 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062916 ms (missed cycles : 5).[0m ×2 + 5.48sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 22 warnings · 64 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165777 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165777 ms (missed cycles : 4).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814557 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814557 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797408 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797408 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sERRORobjective_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: 1791700494.32705331 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327669 ms (missed cycles : 5). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327669 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.63sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791700494.95786095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517031 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517031 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-10-11 06:34:55.992] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-10-11 06:34:55.992] [info] Accepted new action goal ×2 + 5.07sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606516 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606516 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 20 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103775 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103775 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 1.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.18sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 20 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103775 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103775 ms (missed cycles : 5).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 1.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.73sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.35sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.37sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.18sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 0.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 0.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 0.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197161 ms (missed cycles : 5).[0m ×2 + 0.58sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.493065 ms (missed cycles : 6).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791700532.33820343 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236353 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791700533.18975592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791700533.32989049 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791700533.93080926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791700533.95313668 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033422 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791700534.63539863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-10-11 06:35:34.762] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.786969 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570006 ms (missed cycles : 5).[0m ×2 + 5.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468233 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 25 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071605 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071605 ms (missed cycles : 2).[0m ×2 + 0.67sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215148 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215148 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5).[0m ×2 + 3.06sINFOobjective_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 + 3.06sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791700544.83068490 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.61sINFOobjective_server_nodecaller: ×6 + 3.61sINFOobjective_server_nodetype: 0 ×6 + 3.61sINFOobjective_server_nodename: "" ×6 + 3.61sINFOobjective_server_nodeinstance_id: "" ×6 + 3.61sINFOobjective_server_node ×6 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700545.44075227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700546.70090175 seconds ×3 + 5.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791700547.31236196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.55sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791700547.31406999 seconds ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791700547.92200851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791700547.94288898 seconds ×3 + 6.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 25 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071605 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071605 ms (missed cycles : 2).[0m ×2 + 0.67sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215148 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215148 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.438752 ms (missed cycles : 5).[0m ×2 + 3.06sINFOobjective_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 + 3.06sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-10-11 06:35:44.825] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791700544.83068490 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.61sINFOobjective_server_nodecaller: ×6 + 3.61sINFOobjective_server_nodetype: 0 ×6 + 3.61sINFOobjective_server_nodename: "" ×6 + 3.61sINFOobjective_server_nodeinstance_id: "" ×6 + 3.61sINFOobjective_server_node ×6 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886560 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791700545.44075227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743875 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791700546.70090175 seconds ×3 + 5.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.48sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791700547.31236196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.55sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791700547.31406999 seconds ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257252 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.10sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.16sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791700547.92200851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791700547.94288898 seconds ×3 + 6.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_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 | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_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 | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_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 | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_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 | 10.6s | 51 warnings · 767 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-11-06-30-10-362961-56cddcbc9708-8147 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_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. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278577 ms (missed cycles : 3). + 0.92sINFOros2_control_node-1process started with pid [8195] ×2 + 0.92sINFOmove_group-9process started with pid [8246] ×2 + 0.92sINFOparameter_manager_node-10process started with pid [8247] ×2 + 0.92sINFOwaypoint_manager_node-11process started with pid [8248] ×2 + 0.92sINFOmove_joint_resampler_node-12process started with pid [8249] ×2 + 0.92sINFOmove_end_effector_resampler_node-13process started with pid [8250] ×2 + 0.92sINFOobjective_server_node_main-14process started with pid [8251] ×2 + 0.92sINFOcomponent_container_mt-15process started with pid [8252] ×2 + 0.92sINFOcomponent_container_mt-16process started with pid [8253] ×2 + 0.92sINFOexecute_objective_bridge-17process started with pid [8254] ×2 + 0.92sINFOui_teleop_bridge-18process started with pid [8255] ×2 + 0.92sINFOweb_bridge-19process started with pid [8256] ×2 + 0.92sINFOtf_visualization_relay-20process started with pid [8319] ×2 + 0.93sINFOjoint_state_visualization_relay-21process started with pid [8327] ×2 + 0.93sINFOtf2_web_republisher_node-22process started with pid [8328] ×2 + 0.93sINFOvideo_server-23process started with pid [8329] ×2 + 0.93sINFOweb_bridge_auth_proxy-24process started with pid [8330] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8332] ×2 + 0.93sINFOros2-2process started with pid [8196] ×2 + 0.93sINFOros2-3process started with pid [8197] ×2 + 0.93sINFOros2-4process started with pid [8198] ×2 + 0.93sINFOros2-5process started with pid [8199] ×2 + 0.93sINFOros2-6process started with pid [8200] ×2 + 0.93sINFOros2-7process started with pid [8201] ×2 + 0.93sINFOros2-8process started with pid [8202] ×2 + 0.93sINFOcontroller_managerReceived robot description from topic. + 0.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.95sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.96sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.96sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.96sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.96sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.96sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278577 ms (missed cycles : 3).[0m ×2 + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.12sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.22sINFOvideo_server2026/10/11 06:30:11 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.25sINFOvideo_server2026/10/11 06:30:11 INF configuration loaded from /tmp/moveit-webrtc-_bcrjmgg/mediamtx.yml ×2 + 1.25sINFOvideo_server2026/10/11 06:30:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.25sINFOvideo_server2026/10/11 06:30:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.51sINFOweb_video_auth_proxy2026-10-11 06:30:12,206 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.52sINFOweb_video_auth_proxy2026-10-11 06:30:12,209 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.52sINFOweb_bridge_auth_proxy2026-10-11 06:30:12,214 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.52sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.77sINFOmove_group[2026-10-11 06:30:12.459] [moveit_pro_license] [info] ×2 + 1.77sINFOmove_group************************************************* ×4 + 1.77sINFOmove_group* MoveIt Pro License ×2 + 1.77sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.00sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137747 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137747 ms (missed cycles : 2).[0m ×2 + 2.05sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.13sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.13sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.13sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.13sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.14sINFOmove_group ×4 + 2.14sINFOmove_group[92mYou can start planning now![0m ×2 + 2.15sINFOros2_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 + 2.15sINFOros2_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 + 2.25sINFOwaypoint_manager_node[2026-10-11 06:30:12.938] [moveit_pro_license] [info] ×2 + 2.25sINFOwaypoint_manager_node************************************************* ×4 + 2.25sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.25sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.34sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.50sINFOobjective_server_node[2026-10-11 06:30:14.191] [moveit_pro_license] [info] ×2 + 3.50sINFOobjective_server_node************************************************* ×4 + 3.50sINFOobjective_server_node* MoveIt Pro License ×2 + 3.50sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.62sINFOobjective_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 + 3.62sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.63sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.71sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.71sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.90sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.90sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 3.90sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.90sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.90sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.90sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.90sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.90sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.90sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.90sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.90sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.90sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.90sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.90sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.90sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.90sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.90sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.90sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.03sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.03sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.03sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.03sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.03sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn + 4.03sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn [0m ×2 + 4.04sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.04sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.04sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847213 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847213 ms (missed cycles : 3).[0m ×2 + 4.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.28sINFOcomponent_container_mt[2026-10-11 06:30:14.975] [moveit_pro_license] [info] ×2 + 4.28sINFOcomponent_container_mt************************************************* ×4 + 4.28sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.28sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn + 4.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn [0m ×2 + 4.39sINFOros2-3process has finished cleanly [pid 8197] ×2 + 4.39sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 4.39sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 4.43sINFOros2_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 + 4.43sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.43sWARNros2_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 + 4.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.44sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.45sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.45sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.46sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.46sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.73sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.73sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.73sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.73sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn + 4.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn [0m ×2 + 4.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.77sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.77sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.77sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.77sINFOros2-5process has finished cleanly [pid 8199] ×2 + 4.77sINFOforce_torque_sensor_broadcasterconfigure successful + 4.77sINFOros2_control_nodeconfigure successful[0m ×2 + 4.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.78sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.09sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.09sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.09sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.09sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.11sINFOros2-2process has finished cleanly [pid 8196] ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098683 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098683 ms (missed cycles : 2).[0m ×2 + 5.20sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn + 5.20sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn [0m ×2 + 5.25sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.25sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.25sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.25sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.26sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.28sINFOros2_control_node[2026-10-11 06:30:15.976] [info] Controller state will be published at 10 Hz. ×2 + 5.29sINFOros2_control_node[2026-10-11 06:30:15.977] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.52sWARNobjective_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 + 5.57sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.57sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.57sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.57sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.61sINFOros2-7process has finished cleanly [pid 8201] ×2 + 5.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn + 5.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn [0m ×2 + 5.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.67sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.70sINFOros2_control_node[2026-10-11 06:30:16.391] [info] Controller state will be published at 20 Hz. ×2 + 5.70sINFOros2_control_node[2026-10-11 06:30:16.392] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.06sINFOros2-8process has finished cleanly [pid 8202] ×2 + 6.06sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.06sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.06sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.06sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.06sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn + 6.06sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn [0m ×2 + 6.09sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.09sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.09sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.10sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.11sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.11sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.40sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.40sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.41sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.41sINFOros2-4process has finished cleanly [pid 8198] ×2 + 6.48sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn + 6.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8d8th_2a --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_kkfxcr17 --params-file /tmp/launch_params_wlgnp8wn [0m ×2 + 6.54sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.54sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.54sINFOros2_control_node[2026-10-11 06:30:17.230] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.54sINFOros2_control_node[2026-10-11 06:30:17.230] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.57sINFOros2_control_node[2026-10-11 06:30:17.265] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.57sINFOros2_control_node[2026-10-11 06:30:17.265] [info] Controller state will be published at 50 Hz. ×2 + 6.58sINFOros2_control_node[2026-10-11 06:30:17.273] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185758 ms (missed cycles : 4). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185758 ms (missed cycles : 4).[0m ×2 + 6.91sINFOros2-6process has finished cleanly [pid 8200] ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999976 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999976 ms (missed cycles : 2).[0m ×2 + 8.26sWARNros2_control_nodeCamera render tick took 1.95 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 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3).[0m ×2 + 9.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 9.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 9.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 9.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 9.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 9.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 9.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 9.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 9.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 9.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 9.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 9.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 9.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 9.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2).[0m ×2 + 10.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 10.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 10.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 10.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 10.22sINFOobjective_server_nodecaller: ×10 + 10.22sINFOobjective_server_nodetype: 0 ×10 + 10.22sINFOobjective_server_nodename: "" ×10 + 10.22sINFOobjective_server_nodeinstance_id: "" ×10 + 10.22sINFOobjective_server_node ×10 + 10.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700220.97489810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700220.98508549 seconds ×3 + 10.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.83sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 10.89sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791700221.58241940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 10.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 11.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 12.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.37sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 12.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 13.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 13.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 13.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.69sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 13.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 13.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 13.92sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 20 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 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700220.97489810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700220.98508549 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 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 + 0.08sINFOros2_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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791700221.58241940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 3.70sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.24sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.28sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 7.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 23 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700220.97489810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700220.98508549 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791700221.58241940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 4.37sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 5.94sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 23 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692117 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692117 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 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/2026-10-11-06-30-10-362961-56cddcbc9708-8147 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_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. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278577 ms (missed cycles : 3). + 0.92sINFOros2_control_node-1process started with pid [8195] ×2 + 0.92sINFOmove_group-9process started with pid [8246] ×2 + 0.92sINFOparameter_manager_node-10process started with pid [8247] ×2 + 0.92sINFOwaypoint_manager_node-11process started with pid [8248] ×2 + 0.92sINFOmove_joint_resampler_node-12process started with pid [8249] ×2 + 0.92sINFOmove_end_effector_resampler_node-13process started with pid [8250] ×2 + 0.92sINFOobjective_server_node_main-14process started with pid [8251] ×2 + 0.92sINFOcomponent_container_mt-15process started with pid [8252] ×2 + 0.92sINFOcomponent_container_mt-16process started with pid [8253] ×2 + 0.92sINFOexecute_objective_bridge-17process started with pid [8254] ×2 + 0.92sINFOui_teleop_bridge-18process started with pid [8255] ×2 + 0.92sINFOweb_bridge-19process started with pid [8256] ×2 + 0.92sINFOtf_visualization_relay-20process started with pid [8319] ×2 + 0.93sINFOjoint_state_visualization_relay-21process started with pid [8327] ×2 + 0.93sINFOtf2_web_republisher_node-22process started with pid [8328] ×2 + 0.93sINFOvideo_server-23process started with pid [8329] ×2 + 0.93sINFOweb_bridge_auth_proxy-24process started with pid [8330] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8332] ×2 + 0.93sINFOros2-2process started with pid [8196] ×2 + 0.93sINFOros2-3process started with pid [8197] ×2 + 0.93sINFOros2-4process started with pid [8198] ×2 + 0.93sINFOros2-5process started with pid [8199] ×2 + 0.93sINFOros2-6process started with pid [8200] ×2 + 0.93sINFOros2-7process started with pid [8201] ×2 + 0.93sINFOros2-8process started with pid [8202] ×2 + 0.93sINFOcontroller_managerReceived robot description from topic. + 0.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.95sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.96sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.96sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.96sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.96sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.96sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278577 ms (missed cycles : 3).[0m ×2 + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.12sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.22sINFOvideo_server2026/10/11 06:30:11 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.25sINFOvideo_server2026/10/11 06:30:11 INF configuration loaded from /tmp/moveit-webrtc-_bcrjmgg/mediamtx.yml ×2 + 1.25sINFOvideo_server2026/10/11 06:30:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.25sINFOvideo_server2026/10/11 06:30:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.51sINFOweb_video_auth_proxy2026-10-11 06:30:12,206 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.52sINFOweb_video_auth_proxy2026-10-11 06:30:12,209 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.52sINFOweb_bridge_auth_proxy2026-10-11 06:30:12,214 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.52sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.77sINFOmove_group[2026-10-11 06:30:12.459] [moveit_pro_license] [info] ×2 + 1.77sINFOmove_group************************************************* ×4 + 1.77sINFOmove_group* MoveIt Pro License ×2 + 1.77sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.00sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.04sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137747 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137747 ms (missed cycles : 2).[0m ×2 + 2.05sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.13sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.13sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.13sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.13sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.14sINFOmove_group ×4 + 2.14sINFOmove_group[92mYou can start planning now![0m ×2 + 2.15sINFOros2_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 + 2.15sINFOros2_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 + 2.25sINFOwaypoint_manager_node[2026-10-11 06:30:12.938] [moveit_pro_license] [info] ×2 + 2.25sINFOwaypoint_manager_node************************************************* ×4 + 2.25sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.25sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.34sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.50sINFOobjective_server_node[2026-10-11 06:30:14.191] [moveit_pro_license] [info] ×2 + 3.50sINFOobjective_server_node************************************************* ×4 + 3.50sINFOobjective_server_node* MoveIt Pro License ×2 + 3.50sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.62sINFOobjective_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 + 3.62sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.63sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.63sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 0.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.32sINFOobjective_server_nodecaller: ×14 + 1.32sINFOobjective_server_nodetype: 0 ×14 + 1.32sINFOobjective_server_nodename: "" ×14 + 1.32sINFOobjective_server_nodeinstance_id: "" ×14 + 1.32sINFOobjective_server_node ×14 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700220.97489810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700220.98508549 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791700221.58241940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 5.03sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 0.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.32sINFOobjective_server_nodecaller: ×14 + 1.32sINFOobjective_server_nodetype: 0 ×14 + 1.32sINFOobjective_server_nodename: "" ×14 + 1.32sINFOobjective_server_nodeinstance_id: "" ×14 + 1.32sINFOobjective_server_node ×14 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700220.97489810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700220.98508549 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791700221.58241940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 5.03sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283713 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 0.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.70sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.32sINFOobjective_server_nodecaller: ×14 + 1.32sINFOobjective_server_nodetype: 0 ×14 + 1.32sINFOobjective_server_nodename: "" ×14 + 1.32sINFOobjective_server_nodeinstance_id: "" ×14 + 1.32sINFOobjective_server_node ×14 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700220.97489810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700220.98508549 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791700221.58241940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 5.03sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 20 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892031 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.67sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700220.97489810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700220.98508549 seconds ×3 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791700221.58241940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 4.37sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.93sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 5.94sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.95sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 5.95sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 20 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 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791700220.97489810 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791700220.98508549 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 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 + 0.08sINFOros2_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 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791700221.58241940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 3.70sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.24sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.28sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_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/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_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 | 0.7s | 23 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692117 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692117 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-10-11 06:30:28.717] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-10-11 06:30:28.717] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_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 | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 314 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.464898 ms (missed cycles : 7).[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791700222.49255490 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709810 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791700223.11414289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791700223.17428994 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791700223.83697987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791700223.84709811 seconds ×3 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791700224.44320822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982699 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791700224.59393978 seconds ×3 + 2.87sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791700225.28078842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791700225.34092069 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339450 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.32sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791700226.06276011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.4082e-05 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-10-11 06:30:26.190] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329314 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824505 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||