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 | 44.6s | 167 warnings · 15492 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623742 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623742 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852154 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852154 ms (missed cycles : 2).[0m ×2 + 2.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042692 ms (missed cycles : 6). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042692 ms (missed cycles : 6).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791910526.83370590 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOobjective_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: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×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 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795496 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795496 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791910527.45591378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (7.88e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.48sINFOros2_control_node[2026-10-13 16:55:27.651] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-13 16:55:27.651] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970063 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970063 ms (missed cycles : 5).[0m ×2 + 4.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186824 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186824 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664686 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664686 ms (missed cycles : 2).[0m ×2 + 7.12sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×6 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364739 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364739 ms (missed cycles : 3).[0m ×2 + 7.33sINFOjoint_trajectory_controllerReceived new action goal ×2538 + 7.33sINFOjoint_trajectory_controllerAccepted new action goal ×2538 + 7.33sINFOros2_control_nodeReceived new action goal[0m ×5076 + 7.33sINFOros2_control_nodeAccepted new action goal[0m ×5076 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706120 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706120 ms (missed cycles : 2).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149309 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149309 ms (missed cycles : 2).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163024 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163024 ms (missed cycles : 2).[0m ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745577 ms (missed cycles : 2). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745577 ms (missed cycles : 2).[0m ×2 + 11.84sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.84sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.84sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294981 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294981 ms (missed cycles : 2).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276734 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276734 ms (missed cycles : 2).[0m ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812814 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812814 ms (missed cycles : 2).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134064 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134064 ms (missed cycles : 2).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785473 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785473 ms (missed cycles : 2).[0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755692 ms (missed cycles : 2). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755692 ms (missed cycles : 2).[0m ×2 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819433 ms (missed cycles : 2). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819433 ms (missed cycles : 2).[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990038 ms (missed cycles : 2). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990038 ms (missed cycles : 2).[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992757 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992757 ms (missed cycles : 2).[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848164 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848164 ms (missed cycles : 2).[0m ×2 + 21.91sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387288 ms (missed cycles : 3). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387288 ms (missed cycles : 3).[0m ×2 + 23.20sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 23.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912366 ms (missed cycles : 2). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912366 ms (missed cycles : 2).[0m ×2 + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988976 ms (missed cycles : 2). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988976 ms (missed cycles : 2).[0m ×2 + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330429 ms (missed cycles : 2). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330429 ms (missed cycles : 2).[0m ×2 + 26.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869163 ms (missed cycles : 3). + 26.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869163 ms (missed cycles : 3).[0m ×2 + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460954 ms (missed cycles : 2). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460954 ms (missed cycles : 2).[0m ×2 + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840248 ms (missed cycles : 2). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840248 ms (missed cycles : 2).[0m ×2 + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718400 ms (missed cycles : 2). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718400 ms (missed cycles : 2).[0m ×2 + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.213311 ms (missed cycles : 10). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.213311 ms (missed cycles : 10).[0m ×2 + 31.18sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×4 + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712908 ms (missed cycles : 2). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712908 ms (missed cycles : 2).[0m ×2 + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746586 ms (missed cycles : 2). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746586 ms (missed cycles : 2).[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000513 ms (missed cycles : 2). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000513 ms (missed cycles : 2).[0m ×2 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891675 ms (missed cycles : 2). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891675 ms (missed cycles : 2).[0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614400 ms (missed cycles : 3). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614400 ms (missed cycles : 3).[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866249 ms (missed cycles : 2). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866249 ms (missed cycles : 2).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881785 ms (missed cycles : 2). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881785 ms (missed cycles : 2).[0m ×2 + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182259 ms (missed cycles : 2). + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182259 ms (missed cycles : 2).[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673967 ms (missed cycles : 2). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673967 ms (missed cycles : 2).[0m ×2 + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757426 ms (missed cycles : 2). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757426 ms (missed cycles : 2).[0m ×2 + 41.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553692 ms (missed cycles : 2). + 41.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553692 ms (missed cycles : 2).[0m ×2 + 42.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064918 ms (missed cycles : 2). + 42.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064918 ms (missed cycles : 2).[0m ×2 + 43.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791203 ms (missed cycles : 2). + 43.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791203 ms (missed cycles : 2).[0m ×2 + 44.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083403 ms (missed cycles : 2). + 44.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083403 ms (missed cycles : 2).[0m ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683867 ms (missed cycles : 2). + 45.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683867 ms (missed cycles : 2).[0m ×2 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796038 ms (missed cycles : 2). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796038 ms (missed cycles : 2).[0m ×2 + 47.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910571.39541888 seconds ×3 + 47.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638476 ms (missed cycles : 2). + 47.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638476 ms (missed cycles : 2).[0m ×2 + 47.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.77sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791910572.04393816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.93sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.03sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 48.04sINFOros2_control_node[2026-10-13 16:56:12.208] [info] Received new action goal ×2 + 48.04sINFOros2_control_node[2026-10-13 16:56:12.208] [info] Accepted new action goal ×2 + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346044 ms (missed cycles : 3). + 48.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346044 ms (missed cycles : 3).[0m ×2 + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928706 ms (missed cycles : 3). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928706 ms (missed cycles : 3).[0m ×2 + 50.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674683 ms (missed cycles : 2). + 50.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674683 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.1s | 156 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 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910471.05660367 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910472.69260025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4).[0m ×2 + 7.14sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 7.16sINFOros2_control_node[2026-10-13 16:54:36.008] [info] Received new action goal ×2 + 7.16sINFOros2_control_node[2026-10-13 16:54:36.008] [info] Accepted new action goal ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.779650 ms (missed cycles : 8). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.779650 ms (missed cycles : 8).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431574 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431574 ms (missed cycles : 2).[0m ×2 + 9.17sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×4 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861987 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861987 ms (missed cycles : 3).[0m ×2 + 10.29sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.31sINFOros2_control_node[2026-10-13 16:54:39.157] [info] Received new action goal ×2 + 10.31sINFOros2_control_node[2026-10-13 16:54:39.157] [info] Accepted new action goal ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537321 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537321 ms (missed cycles : 2).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018569 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018569 ms (missed cycles : 2).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749025 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749025 ms (missed cycles : 3).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 13.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.34sINFOros2_control_node[2026-10-13 16:54:42.192] [info] Received new action goal ×2 + 13.34sINFOros2_control_node[2026-10-13 16:54:42.192] [info] Accepted new action goal ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511029 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511029 ms (missed cycles : 2).[0m ×2 + 14.26sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.383554 ms (missed cycles : 6). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.383554 ms (missed cycles : 6).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748714 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748714 ms (missed cycles : 2).[0m ×2 + 16.30sINFOobjective_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 + 16.31sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.31sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.31sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.31sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590297 ms (missed cycles : 4). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590297 ms (missed cycles : 4).[0m ×2 + 17.23sINFOros2_control_nodeMuJoCo sim: 0.53% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769256 ms (missed cycles : 2). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769256 ms (missed cycles : 2).[0m ×2 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009126 ms (missed cycles : 4). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009126 ms (missed cycles : 4).[0m ×2 + 19.42sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893760 ms (missed cycles : 2). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893760 ms (missed cycles : 2).[0m ×2 + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641107 ms (missed cycles : 5). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641107 ms (missed cycles : 5).[0m ×2 + 22.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305627 ms (missed cycles : 2). + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305627 ms (missed cycles : 2).[0m ×2 + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746912 ms (missed cycles : 2). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746912 ms (missed cycles : 2).[0m ×2 + 23.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.89sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.89sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.89sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.89sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054032 ms (missed cycles : 3). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054032 ms (missed cycles : 3).[0m ×2 + 24.79sINFOros2_control_node[2026-10-13 16:54:53.643] [info] Received new action goal ×2 + 24.79sINFOros2_control_node[2026-10-13 16:54:53.643] [info] Accepted new action goal ×2 + 25.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952872 ms (missed cycles : 3). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952872 ms (missed cycles : 3).[0m ×2 + 25.98sINFOobjective_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 + 26.00sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.28sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 26.33sINFOros2_control_node[2026-10-13 16:54:55.180] [info] Received new action goal ×2 + 26.33sINFOros2_control_node[2026-10-13 16:54:55.180] [info] Accepted new action goal ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495343 ms (missed cycles : 3). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495343 ms (missed cycles : 3).[0m ×2 + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203791 ms (missed cycles : 2). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203791 ms (missed cycles : 2).[0m ×2 + 28.66sINFOobjective_server_nodeFound path in 0 iterations (8.64e-07 s). ×2 + 28.66sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.68sINFOros2_control_node[2026-10-13 16:54:57.528] [info] Received new action goal ×2 + 28.68sINFOros2_control_node[2026-10-13 16:54:57.528] [info] Accepted new action goal ×2 + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726576 ms (missed cycles : 2). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726576 ms (missed cycles : 2).[0m ×2 + 29.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081951 ms (missed cycles : 4). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081951 ms (missed cycles : 4).[0m ×2 + 30.34sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606966 ms (missed cycles : 2). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606966 ms (missed cycles : 2).[0m ×2 + 31.71sINFOros2_control_node[2026-10-13 16:55:00.558] [info] Received new action goal ×2 + 31.71sINFOros2_control_node[2026-10-13 16:55:00.558] [info] Accepted new action goal ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.368007 ms (missed cycles : 6). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.368007 ms (missed cycles : 6).[0m ×2 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993230 ms (missed cycles : 5). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993230 ms (missed cycles : 5).[0m ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729429 ms (missed cycles : 2). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729429 ms (missed cycles : 2).[0m ×2 + 34.31sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 34.32sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.38sINFOros2_control_node[2026-10-13 16:55:03.227] [info] Received new action goal ×2 + 34.38sINFOros2_control_node[2026-10-13 16:55:03.227] [info] Accepted new action goal ×2 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774450 ms (missed cycles : 2). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774450 ms (missed cycles : 2).[0m ×2 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803041 ms (missed cycles : 4). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.803041 ms (missed cycles : 4).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941209 ms (missed cycles : 2). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941209 ms (missed cycles : 2).[0m ×2 + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297417 ms (missed cycles : 2). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297417 ms (missed cycles : 2).[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078778 ms (missed cycles : 4). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078778 ms (missed cycles : 4).[0m ×2 + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670499 ms (missed cycles : 5). + 40.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.670499 ms (missed cycles : 5).[0m ×2 + 41.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725576 ms (missed cycles : 5). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725576 ms (missed cycles : 5).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430045 ms (missed cycles : 6). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430045 ms (missed cycles : 6).[0m ×2 + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350258 ms (missed cycles : 3). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350258 ms (missed cycles : 3).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747945 ms (missed cycles : 2). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747945 ms (missed cycles : 2).[0m ×2 + 45.16sINFOros2_control_node[2026-10-13 16:55:14.009] [info] Received new action goal ×2 + 45.16sINFOros2_control_node[2026-10-13 16:55:14.010] [info] Accepted new action goal ×2 + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808915 ms (missed cycles : 4). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808915 ms (missed cycles : 4).[0m ×2 + 46.31sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791910515.16320324 seconds ×3 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754577 ms (missed cycles : 2). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754577 ms (missed cycles : 2).[0m ×2 + 46.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.89sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.13sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791910515.98151135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870845 ms (missed cycles : 3). + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870845 ms (missed cycles : 3).[0m ×2 + 48.15sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 48.18sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.20sINFOros2_control_node[2026-10-13 16:55:17.047] [info] Received new action goal ×2 + 48.20sINFOros2_control_node[2026-10-13 16:55:17.047] [info] Accepted new action goal ×2 + 49.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746341 ms (missed cycles : 2). + 49.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746341 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 38.4s | 3 errors · 137 warnings · 296 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679920 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679920 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306534 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306534 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680048 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680048 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_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 + 2.86sERRORobjective_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: 1791910637.21080828 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085779 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085779 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.41sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.41sINFOobjective_server_nodecaller: ×8 + 3.41sINFOobjective_server_nodetype: 0 ×8 + 3.41sINFOobjective_server_nodename: "" ×8 + 3.41sINFOobjective_server_nodeinstance_id: "" ×8 + 3.41sINFOobjective_server_node ×8 + 3.50sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791910637.84393382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814531 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814531 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.53sINFOros2_control_node[2026-10-13 16:57:18.878] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-10-13 16:57:18.878] [info] Accepted new action goal ×2 + 4.93sWARNros2_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 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974925 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974925 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540837 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540837 ms (missed cycles : 4).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021665 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021665 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867782 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867782 ms (missed cycles : 3).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986613 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986613 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968639 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968639 ms (missed cycles : 3).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776262 ms (missed cycles : 5). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776262 ms (missed cycles : 5).[0m ×2 + 11.77sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 11.87sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 11.88sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 11.95sINFOros2_control_node[2026-10-13 16:57:26.295] [info] Received new action goal ×2 + 11.95sINFOros2_control_node[2026-10-13 16:57:26.295] [info] Accepted new action goal ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736367 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736367 ms (missed cycles : 2).[0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824719 ms (missed cycles : 5). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.824719 ms (missed cycles : 5).[0m ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443729 ms (missed cycles : 2). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443729 ms (missed cycles : 2).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783471 ms (missed cycles : 5). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.783471 ms (missed cycles : 5).[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228103 ms (missed cycles : 5). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228103 ms (missed cycles : 5).[0m ×2 + 17.73sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 18.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450186 ms (missed cycles : 4). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450186 ms (missed cycles : 4).[0m ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257050 ms (missed cycles : 2). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257050 ms (missed cycles : 2).[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189692 ms (missed cycles : 2). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189692 ms (missed cycles : 2).[0m ×2 + 21.84sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 21.84sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 21.85sINFOros2_control_node[2026-10-13 16:57:36.201] [info] Received new action goal ×2 + 21.85sINFOros2_control_node[2026-10-13 16:57:36.201] [info] Accepted new action goal ×2 + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.194192 ms (missed cycles : 7). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.194192 ms (missed cycles : 7).[0m ×2 + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823318 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823318 ms (missed cycles : 2).[0m ×2 + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.939210 ms (missed cycles : 6). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.939210 ms (missed cycles : 6).[0m ×2 + 24.63sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968955 ms (missed cycles : 3). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968955 ms (missed cycles : 3).[0m ×2 + 26.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957393 ms (missed cycles : 2). + 26.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957393 ms (missed cycles : 2).[0m ×2 + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700649 ms (missed cycles : 2). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700649 ms (missed cycles : 2).[0m ×2 + 27.90sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 54 coverage poses over the region's +Z face. ×3 + 27.92sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 27.98sINFOros2_control_node[2026-10-13 16:57:42.323] [info] Received new action goal ×2 + 27.98sINFOros2_control_node[2026-10-13 16:57:42.323] [info] Accepted new action goal ×2 + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.552398 ms (missed cycles : 6). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.552398 ms (missed cycles : 6).[0m ×2 + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035190 ms (missed cycles : 2). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035190 ms (missed cycles : 2).[0m ×2 + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073259 ms (missed cycles : 4). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073259 ms (missed cycles : 4).[0m ×2 + 30.67sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786609 ms (missed cycles : 4). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786609 ms (missed cycles : 4).[0m ×2 + 31.73sINFOros2_control_nodeMuJoCo sim: 0.70% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476419 ms (missed cycles : 2). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476419 ms (missed cycles : 2).[0m ×2 + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020502 ms (missed cycles : 2). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020502 ms (missed cycles : 2).[0m ×2 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652208 ms (missed cycles : 2). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652208 ms (missed cycles : 2).[0m ×2 + 35.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.297026 ms (missed cycles : 6). + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.297026 ms (missed cycles : 6).[0m ×2 + 36.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768717 ms (missed cycles : 2). + 36.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768717 ms (missed cycles : 2).[0m ×2 + 37.45sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 37.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 37.47sINFOros2_control_node[2026-10-13 16:57:51.812] [info] Received new action goal ×2 + 37.47sINFOros2_control_node[2026-10-13 16:57:51.812] [info] Accepted new action goal ×2 + 37.90sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131042 ms (missed cycles : 5). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131042 ms (missed cycles : 5).[0m ×2 + 39.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 39.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 41.25sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 41.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 41.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 42.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 42.11sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 42.11sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 42.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 42.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 42.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 42.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 42.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 42.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 42.70sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 42.78sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 42.82sINFOobjective_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 + 42.82sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 43.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 43.44sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 43.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 43.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 43.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 43.65sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 43.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 43.66sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 43.66sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 43.91sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[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 | 22.2s | 92 warnings · 11542 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1891 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×1891 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×3782 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×3782 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083403 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083403 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683867 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683867 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796038 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796038 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 3.41sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.41sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.41sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.41sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910571.39541888 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638476 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638476 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_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: ""
+ 3.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.95sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.95sINFOobjective_server_nodecaller: ×4 + 3.95sINFOobjective_server_nodetype: 0 ×4 + 3.95sINFOobjective_server_nodename: "" ×4 + 3.95sINFOobjective_server_nodeinstance_id: "" ×4 + 3.95sINFOobjective_server_node ×4 + 4.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791910572.04393816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-10-13 16:56:12.208] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-10-13 16:56:12.208] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346044 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346044 ms (missed cycles : 3).[0m ×2 + 5.47sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.53sINFOobjective_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 + 5.55sINFOobjective_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 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928706 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928706 ms (missed cycles : 3).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674683 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674683 ms (missed cycles : 2).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177251 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177251 ms (missed cycles : 3).[0m ×2 + 8.38sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×4 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692703 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692703 ms (missed cycles : 2).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701596 ms (missed cycles : 2).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393845 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393845 ms (missed cycles : 2).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741798 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741798 ms (missed cycles : 2).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861604 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861604 ms (missed cycles : 2).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028588 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028588 ms (missed cycles : 2).[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902980 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902980 ms (missed cycles : 2).[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761516 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761516 ms (missed cycles : 2).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702307 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702307 ms (missed cycles : 2).[0m ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842618 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842618 ms (missed cycles : 2).[0m ×2 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940605 ms (missed cycles : 2). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940605 ms (missed cycles : 2).[0m ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768980 ms (missed cycles : 2). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768980 ms (missed cycles : 2).[0m ×2 + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032249 ms (missed cycles : 2). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032249 ms (missed cycles : 2).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125217 ms (missed cycles : 2). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125217 ms (missed cycles : 2).[0m ×2 + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2).[0m ×2 + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2).[0m ×2 + 24.43sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2).[0m ×2 + 25.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910593.54833078 seconds ×3 + 25.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2). + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2).[0m ×2 + 26.21sINFOobjective_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: ""
+ 26.21sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910594.29720688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.51sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 26.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.53sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Received new action goal ×2 + 26.53sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Accepted new action goal ×2 + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2).[0m ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 21.7s | 3 errors · 91 warnings · 189 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.872025 ms (missed cycles : 5). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.872025 ms (missed cycles : 5).[0m ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00397727 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.42sINFOros2_control_node[2026-10-13 16:53:51.390] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:53:51.390] [info] Accepted new action goal ×2 + 0.85sINFOros2_control_node[2026-10-13 16:53:51.824] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-10-13 16:53:51.824] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594295 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594295 ms (missed cycles : 2).[0m ×2 + 1.20sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×6 + 2.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477325 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477325 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.73sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.73sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.73sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910433.73742390 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693997 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693997 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791910434.55054522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779376 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779376 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-10-13 16:53:55.585] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-10-13 16:53:55.585] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366735 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366735 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641886 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641886 ms (missed cycles : 4).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764196 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764196 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068980 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068980 ms (missed cycles : 3).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850702 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850702 ms (missed cycles : 2).[0m ×2 + 10.94sINFOobjective_server_nodeGenerateSurfaceCoveragePath Info: Generated 48 coverage poses over the region's +Z face. ×3 + 10.95sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274146 ms (missed cycles : 4). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274146 ms (missed cycles : 4).[0m ×2 + 11.01sINFOros2_control_node[2026-10-13 16:54:01.981] [info] Received new action goal ×2 + 11.01sINFOros2_control_node[2026-10-13 16:54:01.981] [info] Accepted new action goal ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650800 ms (missed cycles : 4). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.650800 ms (missed cycles : 4).[0m ×2 + 12.26sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649891 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649891 ms (missed cycles : 2).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079892 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079892 ms (missed cycles : 2).[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.528414 ms (missed cycles : 6). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.528414 ms (missed cycles : 6).[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192485 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192485 ms (missed cycles : 2).[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006165 ms (missed cycles : 3). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006165 ms (missed cycles : 3).[0m ×2 + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834748 ms (missed cycles : 2). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834748 ms (missed cycles : 2).[0m ×2 + 18.95sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261737 ms (missed cycles : 2). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261737 ms (missed cycles : 2).[0m ×2 + 20.42sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 20.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640659 ms (missed cycles : 3). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640659 ms (missed cycles : 3).[0m ×2 + 20.54sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 20.55sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 20.56sINFOros2_control_node[2026-10-13 16:54:11.533] [info] Received new action goal ×2 + 20.56sINFOros2_control_node[2026-10-13 16:54:11.533] [info] Accepted new action goal ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756853 ms (missed cycles : 4). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756853 ms (missed cycles : 4).[0m ×2 + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749249 ms (missed cycles : 2). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749249 ms (missed cycles : 2).[0m ×2 + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400087 ms (missed cycles : 2). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400087 ms (missed cycles : 2).[0m ×2 + 24.48sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791910455.44727707 seconds ×3 + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466591 ms (missed cycles : 5). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466591 ms (missed cycles : 5).[0m ×2 + 25.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.02sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 25.17sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791910456.14624143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.35sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 25.35sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 25.37sINFOros2_control_node[2026-10-13 16:54:16.341] [info] Received new action goal ×2 + 25.37sINFOros2_control_node[2026-10-13 16:54:16.341] [info] Accepted new action goal ×2 + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481859 ms (missed cycles : 3). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481859 ms (missed cycles : 3).[0m ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825799 ms (missed cycles : 3). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825799 ms (missed cycles : 3).[0m ×2 + 27.90sINFOros2_control_node[2026-10-13 16:54:18.872] [info] Received new action goal ×2 + 27.90sINFOros2_control_node[2026-10-13 16:54:18.872] [info] Accepted new action goal ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.466273 ms (missed cycles : 6). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.466273 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 60 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756853 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756853 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749249 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749249 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400087 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400087 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1791910455.44727707 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466591 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466591 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.54sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.54sINFOobjective_server_nodecaller: ×6 + 3.54sINFOobjective_server_nodetype: 0 ×6 + 3.54sINFOobjective_server_nodename: "" ×6 + 3.54sINFOobjective_server_nodeinstance_id: "" ×6 + 3.54sINFOobjective_server_node ×6 + 3.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1791910456.14624143 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.89sINFOros2_control_node[2026-10-13 16:54:16.341] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-10-13 16:54:16.341] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481859 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481859 ms (missed cycles : 3).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825799 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825799 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_node[2026-10-13 16:54:18.872] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-10-13 16:54:18.872] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.466273 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.466273 ms (missed cycles : 6).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722984 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722984 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754004 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754004 ms (missed cycles : 3).[0m ×2 + 9.49sWARNros2_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 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542314 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542314 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177809 ms (missed cycles : 4). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177809 ms (missed cycles : 4).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652210 ms (missed cycles : 2). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652210 ms (missed cycles : 2).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672620 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672620 ms (missed cycles : 2).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076499 ms (missed cycles : 4). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076499 ms (missed cycles : 4).[0m ×2 + 14.56sWARNros2_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 + 14.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791910467.43396902 seconds ×3 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688066 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688066 ms (missed cycles : 2).[0m ×2 + 15.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.53sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791910468.04332423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791910468.11355829 seconds ×3 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919584 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919584 ms (missed cycles : 3).[0m ×2 + 16.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.48sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.59sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 16.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.60sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 16.60sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350258 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350258 ms (missed cycles : 3).[0m ×2 + 0.43sINFOobjective_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 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.43sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.43sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.43sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747945 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747945 ms (missed cycles : 2).[0m ×2 + 1.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.42sINFOros2_control_node[2026-10-13 16:55:14.009] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-10-13 16:55:14.010] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808915 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808915 ms (missed cycles : 4).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1791910515.16320324 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754577 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754577 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.15sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.15sINFOobjective_server_nodecaller: ×4 + 3.15sINFOobjective_server_nodetype: 0 ×4 + 3.15sINFOobjective_server_nodename: "" ×4 + 3.15sINFOobjective_server_nodeinstance_id: "" ×4 + 3.15sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `Push Button` starting at time: 1791910515.98151135 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870845 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870845 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.46sINFOros2_control_node[2026-10-13 16:55:17.047] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-10-13 16:55:17.047] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746341 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746341 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866912 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866912 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757974 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757974 ms (missed cycles : 2).[0m ×2 + 8.16sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.16sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.16sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.16sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.16sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161814 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161814 ms (missed cycles : 2).[0m ×2 + 8.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004704 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004704 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659760 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659760 ms (missed cycles : 3).[0m ×2 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (5.36e-07 s). ×2 + 10.63sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.64sINFOros2_control_node[2026-10-13 16:55:23.228] [info] Received new action goal ×2 + 10.64sINFOros2_control_node[2026-10-13 16:55:23.228] [info] Accepted new action goal ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623742 ms (missed cycles : 6). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623742 ms (missed cycles : 6).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852154 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852154 ms (missed cycles : 2).[0m ×2 + 13.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042692 ms (missed cycles : 6). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042692 ms (missed cycles : 6).[0m ×2 + 14.25sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791910526.83370590 seconds ×3 + 14.79sINFOobjective_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: ""
+ 14.80sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795496 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795496 ms (missed cycles : 2).[0m ×2 + 14.87sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791910527.45591378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sINFOobjective_server_nodeFound path in 0 iterations (7.88e-07 s). ×2 + 15.06sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.07sINFOros2_control_node[2026-10-13 16:55:27.651] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-10-13 16:55:27.651] [info] Accepted new action goal ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970063 ms (missed cycles : 5). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970063 ms (missed cycles : 5).[0m ×2 + 16.33sINFOobjective_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 + 16.34sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186824 ms (missed cycles : 2). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186824 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 57 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 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: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 2.36sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 3.50sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.79sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 + 6.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.31sINFOros2_control_node[2026-10-13 16:52:50.021] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-10-13 16:52:50.021] [info] Accepted new action goal ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723056 ms (missed cycles : 6). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723056 ms (missed cycles : 6).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047273 ms (missed cycles : 3). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047273 ms (missed cycles : 3).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874064 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874064 ms (missed cycles : 2).[0m ×2 + 9.33sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 9.97sINFOros2_control_node[2026-10-13 16:52:53.681] [info] Received new action goal ×2 + 9.97sINFOros2_control_node[2026-10-13 16:52:53.681] [info] Accepted new action goal ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776816 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776816 ms (missed cycles : 2).[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513648 ms (missed cycles : 6). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513648 ms (missed cycles : 6).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576256 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576256 ms (missed cycles : 2).[0m ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (6.99e-07 s). ×2 + 13.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967044 ms (missed cycles : 3). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967044 ms (missed cycles : 3).[0m ×2 + 13.32sINFOros2_control_node[2026-10-13 16:52:57.032] [info] Received new action goal ×2 + 13.32sINFOros2_control_node[2026-10-13 16:52:57.032] [info] Accepted new action goal ×2 + 14.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.09sINFOros2_control_node[2026-10-13 16:52:57.806] [info] Got request to cancel active goal. ×2 + 14.09sINFOros2_control_node[2026-10-13 16:52:57.806] [info] Canceling active goal... ×2 + 14.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910377.82462668 seconds ×3 + 14.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.408136 ms (missed cycles : 6). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.408136 ms (missed cycles : 6).[0m ×2 + 14.40sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 14.66sINFOobjective_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: ""
+ 14.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791910378.48136234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 15.01sINFOros2_control_node[2026-10-13 16:52:58.725] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-10-13 16:52:58.725] [info] Accepted new action goal ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452461 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452461 ms (missed cycles : 2).[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807448 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807448 ms (missed cycles : 2).[0m ×2 + 17.28sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 17.28sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.29sINFOros2_control_node[2026-10-13 16:53:01.007] [info] Received new action goal ×2 + 17.29sINFOros2_control_node[2026-10-13 16:53:01.007] [info] Accepted new action goal ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082582 ms (missed cycles : 4). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082582 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 57 warnings · 2042 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910593.54833078 seconds ×3 + 3.42sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.42sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 4.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.06sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 4.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 4.06sINFOobjective_server_nodecaller: ×4 + 4.06sINFOobjective_server_nodetype: 0 ×4 + 4.06sINFOobjective_server_nodename: "" ×4 + 4.06sINFOobjective_server_nodeinstance_id: "" ×4 + 4.06sINFOobjective_server_node ×4 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910594.29720688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979021 ms (missed cycles : 4). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979021 ms (missed cycles : 4).[0m ×2 + 7.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 7.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.91sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966605 ms (missed cycles : 6). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.966605 ms (missed cycles : 6).[0m ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 1 iterations (0.00362497 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.56sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.58sINFOros2_control_node[2026-10-13 16:56:38.710] [info] Received new action goal ×2 + 8.58sINFOros2_control_node[2026-10-13 16:56:38.710] [info] Accepted new action goal ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737366 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737366 ms (missed cycles : 3).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675588 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675588 ms (missed cycles : 2).[0m ×2 + 10.87sINFOros2_control_node[2026-10-13 16:56:41.003] [info] Received new action goal ×2 + 10.87sINFOros2_control_node[2026-10-13 16:56:41.003] [info] Accepted new action goal ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 12.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 12.51sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 12.51sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 13.09sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 13.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 14.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.15sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.42sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 15.44sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 15.44sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 15.95sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 17.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.388395 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.388395 ms (missed cycles : 6).[0m ×2 + 0.41sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.67sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.67sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.68sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791910420.03590083 seconds ×3 + 0.71sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881534 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881534 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358996 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358996 ms (missed cycles : 6).[0m ×2 + 2.66sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012364 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012364 ms (missed cycles : 2).[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×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 + 4.06sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791910423.38297200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349836 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349836 ms (missed cycles : 3).[0m ×2 + 4.32sINFOros2_control_node[2026-10-13 16:53:43.641] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-10-13 16:53:43.641] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948873 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948873 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234412 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234412 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973200 ms (missed cycles : 5). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973200 ms (missed cycles : 5).[0m ×2 + 7.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 7.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.85sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 5 iterations (0.00762678 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761080 ms (missed cycles : 5). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761080 ms (missed cycles : 5).[0m ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.12sINFOros2_control_node[2026-10-13 16:53:48.445] [info] Received new action goal ×2 + 9.12sINFOros2_control_node[2026-10-13 16:53:48.445] [info] Accepted new action goal ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519798 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519798 ms (missed cycles : 2).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558309 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558309 ms (missed cycles : 2).[0m ×2 + 11.65sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 11.65sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 11.66sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.67sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.872025 ms (missed cycles : 5). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.872025 ms (missed cycles : 5).[0m ×2 + 11.79sINFOobjective_server_nodeFound path in 1 iterations (0.00397727 s). ×2 + 11.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.07sINFOros2_control_node[2026-10-13 16:53:51.390] [info] Received new action goal ×2 + 12.07sINFOros2_control_node[2026-10-13 16:53:51.390] [info] Accepted new action goal ×2 + 12.50sINFOros2_control_node[2026-10-13 16:53:51.824] [info] Received new action goal ×2 + 12.50sINFOros2_control_node[2026-10-13 16:53:51.824] [info] Accepted new action goal ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594295 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594295 ms (missed cycles : 2).[0m ×2 + 12.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477325 ms (missed cycles : 3). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477325 ms (missed cycles : 3).[0m ×2 + 14.38sINFOobjective_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 + 14.38sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.38sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.38sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.38sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.42sERRORobjective_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: 1791910433.73742390 seconds ×3 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693997 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693997 ms (missed cycles : 2).[0m ×2 + 15.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.10sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 15.23sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791910434.55054522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779376 ms (missed cycles : 2). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779376 ms (missed cycles : 2).[0m ×2 + 16.25sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 16.26sINFOros2_control_node[2026-10-13 16:53:55.585] [info] Received new action goal ×2 + 16.26sINFOros2_control_node[2026-10-13 16:53:55.585] [info] Accepted new action goal ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366735 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366735 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 3 errors · 58 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×14 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 1.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.51sINFOobjective_server_nodecaller: ×10 + 2.52sINFOobjective_server_nodetype: 0 ×10 + 2.52sINFOobjective_server_nodename: "" ×10 + 2.52sINFOobjective_server_nodeinstance_id: "" ×10 + 2.52sINFOobjective_server_node ×10 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 4.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×4 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963094 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963094 ms (missed cycles : 2).[0m ×2 + 7.67sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.67sINFOros2_control_node[2026-10-13 16:58:01.307] [info] Received new action goal ×2 + 7.67sINFOros2_control_node[2026-10-13 16:58:01.307] [info] Accepted new action goal ×2 + 7.67sINFOros2_control_node[2026-10-13 16:58:01.308] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774486 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774486 ms (missed cycles : 2).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713602 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713602 ms (missed cycles : 2).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971535 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971535 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759580 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759580 ms (missed cycles : 2).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975785 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975785 ms (missed cycles : 3).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2).[0m ×2 + 14.58sINFOobjective_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 + 14.59sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Got request to cancel active goal. ×2 + 14.59sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Canceling active goal... ×2 + 14.59sERRORobjective_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: 1791910688.22877479 seconds ×3 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4).[0m ×2 + 15.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 15.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910688.83643174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2).[0m ×2 + 16.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910690.37658453 seconds ×3 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2).[0m ×2 + 17.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 17.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791910690.99995065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.37sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 17.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791910691.00211191 seconds ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513648 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513648 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576256 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576256 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.15sINFOobjective_server_nodeFound path in 0 iterations (6.99e-07 s). ×2 + 2.16sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967044 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967044 ms (missed cycles : 3).[0m ×2 + 2.18sINFOros2_control_node[2026-10-13 16:52:57.032] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-10-13 16:52:57.032] [info] Accepted new action goal ×2 + 2.95sINFOobjective_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 + 2.96sINFOros2_control_node[2026-10-13 16:52:57.806] [info] Got request to cancel active goal. ×2 + 2.96sINFOros2_control_node[2026-10-13 16:52:57.806] [info] Canceling active goal... ×2 + 2.97sERRORobjective_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: 1791910377.82462668 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.408136 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.408136 ms (missed cycles : 6).[0m ×2 + 3.27sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1791910378.48136234 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-10-13 16:52:58.725] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-10-13 16:52:58.725] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452461 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452461 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807448 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807448 ms (missed cycles : 2).[0m ×2 + 5.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.16sINFOros2_control_node[2026-10-13 16:53:01.007] [info] Received new action goal ×2 + 6.16sINFOros2_control_node[2026-10-13 16:53:01.007] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082582 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082582 ms (missed cycles : 4).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718345 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718345 ms (missed cycles : 2).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799143 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799143 ms (missed cycles : 3).[0m ×2 + 9.13sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362972 ms (missed cycles : 6). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362972 ms (missed cycles : 6).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708501 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708501 ms (missed cycles : 2).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2).[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4).[0m ×2 + 13.96sERRORobjective_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: 1791910388.81197214 seconds ×3 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2).[0m ×2 + 14.26sWARNros2_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 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910389.42195153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910389.53208470 seconds ×3 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2).[0m ×2 + 15.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.29sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910390.22715282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.58sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 15.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.59sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Received new action goal ×2 + 15.59sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Accepted new action goal ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×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 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725132 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725132 ms (missed cycles : 2).[0m ×2 + 7.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885918 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885918 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.837898 ms (missed cycles : 6). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.837898 ms (missed cycles : 6).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928336 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928336 ms (missed cycles : 2).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418972 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418972 ms (missed cycles : 2).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797154 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797154 ms (missed cycles : 2).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926326 ms (missed cycles : 4). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926326 ms (missed cycles : 4).[0m ×2 + 13.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 14.08sINFOobjective_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 + 14.09sERRORobjective_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: 1791910615.70862532 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451152 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451152 ms (missed cycles : 2).[0m ×2 + 14.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.64sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791910616.35323453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.05sINFOros2_control_node[2026-10-13 16:56:56.672] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-10-13 16:56:56.672] [info] Accepted new action goal ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287718 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287718 ms (missed cycles : 2).[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764423 ms (missed cycles : 2). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764423 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.790062 ms (missed cycles : 6). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.790062 ms (missed cycles : 6).[0m ×2 + 6.86sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 6.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.91sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.19sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 7.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (9.16e-07 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 7.25sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.28sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 7.36sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.38sINFOobjective_server_nodeFound path in 5 iterations (0.0050306 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723406 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723406 ms (missed cycles : 2).[0m ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (2.02e-07 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.12sINFOros2_control_node[2026-10-13 16:53:37.465] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-10-13 16:53:37.465] [info] Accepted new action goal ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674854 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674854 ms (missed cycles : 2).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.388395 ms (missed cycles : 6). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.388395 ms (missed cycles : 6).[0m ×2 + 10.39sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.65sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.65sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.65sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1791910420.03590083 seconds ×3 + 10.69sINFOobjective_server_nodeObjective failure records are not written: /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/moveit_pro_runs/latest does not name a run started by `moveit_pro run`. ×3 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881534 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881534 ms (missed cycles : 2).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358996 ms (missed cycles : 6). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358996 ms (missed cycles : 6).[0m ×2 + 12.64sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012364 ms (missed cycles : 2). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012364 ms (missed cycles : 2).[0m ×2 + 13.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.92sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.04sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1791910423.38297200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349836 ms (missed cycles : 3). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349836 ms (missed cycles : 3).[0m ×2 + 14.30sINFOros2_control_node[2026-10-13 16:53:43.641] [info] Received new action goal ×2 + 14.30sINFOros2_control_node[2026-10-13 16:53:43.641] [info] Accepted new action goal ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948873 ms (missed cycles : 3). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948873 ms (missed cycles : 3).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234412 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234412 ms (missed cycles : 2).[0m ×2 + 16.73sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 54 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810328 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810328 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546345 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546345 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998129 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998129 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791910626.28020287 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690361 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690361 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791910626.92045856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.48sINFOros2_control_node[2026-10-13 16:57:07.045] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-13 16:57:07.045] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266345 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266345 ms (missed cycles : 2).[0m ×2 + 4.41sWARNros2_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 + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768570 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768570 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864426 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864426 ms (missed cycles : 2).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690659 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690659 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998893 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998893 ms (missed cycles : 2).[0m ×2 + 9.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406446 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406446 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679920 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679920 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306534 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306534 ms (missed cycles : 2).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680048 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680048 ms (missed cycles : 2).[0m ×2 + 13.63sINFOobjective_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 + 13.64sERRORobjective_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: 1791910637.21080828 seconds ×3 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085779 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085779 ms (missed cycles : 2).[0m ×2 + 14.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.19sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.27sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791910637.84393382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814531 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814531 ms (missed cycles : 3).[0m ×2 + 15.30sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 15.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.31sINFOros2_control_node[2026-10-13 16:57:18.878] [info] Received new action goal ×2 + 15.31sINFOros2_control_node[2026-10-13 16:57:18.878] [info] Accepted new action goal ×2 + 15.71sWARNros2_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 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974925 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974925 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.7s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4).[0m ×2 + 1.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sERRORobjective_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: 1791910388.81197214 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_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 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.45sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.45sINFOobjective_server_nodecaller: ×8 + 2.45sINFOobjective_server_nodetype: 0 ×8 + 2.45sINFOobjective_server_nodename: "" ×8 + 2.45sINFOobjective_server_nodeinstance_id: "" ×8 + 2.45sINFOobjective_server_node ×8 + 2.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910389.42195153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910389.53208470 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910390.22715282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751211 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751211 ms (missed cycles : 2).[0m ×2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958030 ms (missed cycles : 5). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.958030 ms (missed cycles : 5).[0m ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 1 iterations (0.0036419 s). ×2 + 8.03sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.14sINFOros2_control_node[2026-10-13 16:53:15.053] [info] Received new action goal ×2 + 8.14sINFOros2_control_node[2026-10-13 16:53:15.053] [info] Accepted new action goal ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570165 ms (missed cycles : 5). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570165 ms (missed cycles : 5).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165286 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165286 ms (missed cycles : 2).[0m ×2 + 10.44sINFOros2_control_node[2026-10-13 16:53:17.356] [info] Received new action goal ×2 + 10.44sINFOros2_control_node[2026-10-13 16:53:17.356] [info] Accepted new action goal ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171770 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171770 ms (missed cycles : 2).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8).[0m ×2 + 12.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.08sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Received new action goal ×2 + 12.08sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Accepted new action goal ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2).[0m ×2 + 13.15sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 13.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910400.29251003 seconds ×3 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4).[0m ×2 + 13.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.92sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910400.94003034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910400.99017239 seconds ×3 + 14.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.69sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.77sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910401.68284416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 14.89sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.90sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Accepted new action goal ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.6s | 3 errors · 54 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910400.29251003 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.18sINFOobjective_server_nodecaller: ×6 + 2.18sINFOobjective_server_nodetype: 0 ×6 + 2.18sINFOobjective_server_nodename: "" ×6 + 2.18sINFOobjective_server_nodeinstance_id: "" ×6 + 2.18sINFOobjective_server_node ×6 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910400.94003034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910400.99017239 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910401.68284416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197559 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197559 ms (missed cycles : 3).[0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.53sINFOros2_control_node[2026-10-13 16:53:25.187] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-10-13 16:53:25.187] [info] Accepted new action goal ×2 + 6.56sWARNros2_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 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763465 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763465 ms (missed cycles : 3).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172347 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172347 ms (missed cycles : 2).[0m ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 8.92sINFOros2_control_node[2026-10-13 16:53:27.574] [info] Received new action goal ×2 + 8.92sINFOros2_control_node[2026-10-13 16:53:27.574] [info] Accepted new action goal ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111548 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111548 ms (missed cycles : 2).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 11.27sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 11.28sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 12.32sWARNros2_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 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 13.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.05sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 13.05sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 13.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910411.71564293 seconds ×3 + 13.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.64sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.76sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 13.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 13.98sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 13.98sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.6s | 69 errors · 39 warnings · 437 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-10-13 16:58:08.223] [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: 1791910688.22877479 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910688.83643174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910690.37658453 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.78sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791910690.99995065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.78sINFOobjective_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 + 2.78sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791910691.00211191 seconds ×3 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791910691.72732282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791910691.75848627 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194762 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194762 ms (missed cycles : 2).[0m ×2 + 3.85sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791910692.36124873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214526 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214526 ms (missed cycles : 4).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791910693.13140225 seconds ×3 + 4.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770171 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770171 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184323 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184323 ms (missed cycles : 4).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.458316 ms (missed cycles : 6). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.458316 ms (missed cycles : 6).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424181 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424181 ms (missed cycles : 2).[0m ×2 + 9.01sWARNros2_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 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980984 ms (missed cycles : 5). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980984 ms (missed cycles : 5).[0m ×2 + 10.32sERRORweb_video_auth_proxy-25process[web_video_auth_proxy-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORweb_bridge_auth_proxy-24process[web_bridge_auth_proxy-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORvideo_server-23process[video_server-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORtf2_web_republisher_node-22process[tf2_web_republisher_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORjoint_state_visualization_relay-21process[joint_state_visualization_relay-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORtf_visualization_relay-20process[tf_visualization_relay-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sINFOweb_video_auth_proxy-25sending signal 'SIGTERM' to process[web_video_auth_proxy-25] ×2 + 10.33sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORweb_video_auth_proxy-25process has died [pid 8296, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.33sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sINFOweb_bridge_auth_proxy-24sending signal 'SIGTERM' to process[web_bridge_auth_proxy-24] ×2 + 10.34sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORweb_bridge_auth_proxy-24process has died [pid 8295, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.34sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sINFOvideo_server-23sending signal 'SIGTERM' to process[video_server-23] ×2 + 10.35sINFOtf2_web_republisher_node-22sending signal 'SIGTERM' to process[tf2_web_republisher_node-22] ×2 + 10.36sINFOjoint_state_visualization_relay-21sending signal 'SIGTERM' to process[joint_state_visualization_relay-21] ×2 + 10.36sINFOtf_visualization_relay-20sending signal 'SIGTERM' to process[tf_visualization_relay-20] ×2 + 10.36sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.37sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.38sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.38sINFOvideo_server-23process has finished cleanly [pid 8294] ×2 + 10.38sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.39sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.39sINFOlaunchprocess[web_bridge_auth_proxy-24] was required: shutting down launched system ×2 + 10.39sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.40sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.41sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.41sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.42sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.42sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.43sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.43sINFOcontroller_managerShutdown request received.... + 10.43sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.43sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.43sINFOvideo_server2026/10/13 16:58:18 INF shutting down gracefully ×2 + 10.43sINFOvideo_server2026/10/13 16:58:18 INF [WebRTC] closing ×2 + 10.43sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.43sINFOvideo_server2026/10/13 16:58:18 INF [RTSP] closing ×2 + 10.43sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.43sINFOvideo_server2026/10/13 16:58:18 INF waiting for running hooks ×2 + 10.43sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.43sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.43sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.43sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.43sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.43sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.43sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.43sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.43sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.43sINFOcontroller_managerShutting down the controller manager. + 10.43sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.43sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×12 + 10.43sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.43sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.43sERRORmove_groupStack trace (most recent call last) in thread 8699: ×2 + 10.44sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.44sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.44sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.44sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.44sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.44sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.44sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.44sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.44sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.44sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1d6974ccc3, in __clone ×2 + 10.44sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1d696bfb83, in ×2 + 10.44sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1d69950db3, in ×2 + 10.44sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so", at 0x7f1d6a0ba064, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.44sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1d69ce4620, in rclcpp::Rate::sleep() ×2 + 10.44sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1d69c26d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.44sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1d69be8087, in ×2 + 10.44sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1d6991f390, in __cxa_throw ×2 + 10.44sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1d69909a54, in std::terminate() ×2 + 10.44sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1d6991f0d9, in ×2 + 10.44sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1d69909ff4, in ×2 + 10.44sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1d6964b8fe, in abort ×2 + 10.44sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1d6966827d, in raise ×2 + 10.44sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1d696c1c0c, in pthread_kill ×2 + 10.44sERRORmove_groupAborted (Signal sent by tkill() 8203 0) ×2 + 10.44sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.45sERRORmove_group-9process has died [pid 8203, 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_nkm18ins --params-file /tmp/launch_params_bvw6gzwi --params-file /tmp/launch_params_7lzej9wr --params-file /tmp/launch_params_q8q7xozy --params-file /tmp/launch_params_hfohukr0 --params-file /tmp/launch_params_c2aej25n']. ×2 + 10.64sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.64sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.64sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.40sERRORtf_visualization_relayTraceback (most recent call last): ×2 + 11.40sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/tf_visualization_relay", line 33, in <module> ×2 + 11.40sINFOtf_visualization_relaysys.exit(load_entry_point('moveit-studio-bridge==10.2.0', 'console_scripts', 'tf_visualization_relay')()) ×2 + 11.40sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOtf_visualization_relayFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/tf_visualization_relay.py", line 123, in main ×2 + 11.40sINFOtf_visualization_relayrclpy.spin(node) ×2 + 11.40sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.40sINFOtf_visualization_relayexecutor.spin_once() ×2 + 11.40sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.40sINFOtf_visualization_relayself._spin_once_impl(timeout_sec) ×2 + 11.40sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.40sINFOtf_visualization_relayhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.40sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.40sINFOtf_visualization_relayreturn next(self._cb_iter) ×2 + 11.40sINFOtf_visualization_relay^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOtf_visualization_relayFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.40sINFOtf_visualization_relayraise ExternalShutdownException() ×2 + 11.40sINFOtf_visualization_relayrclpy.executors.ExternalShutdownException ×2 + 11.41sINFOtf2_web_republisher_node-22process has finished cleanly [pid 8293] ×2 + 11.41sINFOlaunchprocess[tf2_web_republisher_node-22] was required: shutting down launched system ×2 + 11.45sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8207] ×2 + 11.46sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8206] ×2 + 11.47sERRORtf_visualization_relay-20process has died [pid 8291, 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_70z0xwgo']. ×2 + 11.47sINFOlaunchprocess[tf_visualization_relay-20] was required: shutting down launched system ×2 + 11.48sINFOjoint_state_visualization_relay-21process has finished cleanly [pid 8292] ×2 + 11.48sINFOlaunchprocess[joint_state_visualization_relay-21] was required: shutting down launched system ×2 + 11.50sINFOui_teleop_bridge-18process has finished cleanly [pid 8212] ×2 + 11.50sINFOwaypoint_manager_node-11process has finished cleanly [pid 8205] ×2 + 11.51sINFOexecute_objective_bridge-17process has finished cleanly [pid 8211] ×2 + 11.51sINFOparameter_manager_node-10process has finished cleanly [pid 8204] ×2 + 11.57sINFOcomponent_container_mt-16process has finished cleanly [pid 8210] ×2 + 11.59sINFOobjective_server_node[0;m[2026-10-13 16:58:19.813] [moveit_pro_license] [info] ×2 + 11.60sINFOobjective_server_node************************************************* ×4 + 11.60sINFOobjective_server_node* MoveIt Pro License ×2 + 11.60sINFOobjective_server_node* Application has successfully terminated ×2 + 11.73sINFOobjective_server_node_main-14process has finished cleanly [pid 8208] ×2 + 11.73sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.59sINFOcomponent_container_mt-15process has finished cleanly [pid 8209] ×2 + 12.88sINFOweb_bridge-19process has finished cleanly [pid 8213] ×2 + 12.89sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.09sINFOros2_control_node-1process has finished cleanly [pid 8166] ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418972 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418972 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797154 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797154 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926326 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926326 ms (missed cycles : 4).[0m ×2 + 2.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sINFOobjective_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 + 2.58sERRORobjective_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: 1791910615.70862532 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451152 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451152 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.14sINFOobjective_server_nodecaller: ×4 + 3.14sINFOobjective_server_nodetype: 0 ×4 + 3.14sINFOobjective_server_nodename: "" ×4 + 3.14sINFOobjective_server_nodeinstance_id: "" ×4 + 3.14sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791910616.35323453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.55sINFOros2_control_node[2026-10-13 16:56:56.672] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-10-13 16:56:56.672] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287718 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287718 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764423 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764423 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920094 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920094 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344992 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344992 ms (missed cycles : 2).[0m ×2 + 7.56sINFOros2_control_node[2026-10-13 16:57:00.686] [info] Received new action goal ×2 + 7.56sINFOros2_control_node[2026-10-13 16:57:00.686] [info] Accepted new action goal ×2 + 7.95sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018524 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018524 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894606 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894606 ms (missed cycles : 3).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810328 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810328 ms (missed cycles : 2).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546345 ms (missed cycles : 6). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546345 ms (missed cycles : 6).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998129 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998129 ms (missed cycles : 2).[0m ×2 + 13.16sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791910626.28020287 seconds ×3 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690361 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690361 ms (missed cycles : 2).[0m ×2 + 13.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.70sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.80sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791910626.92045856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.91sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 13.91sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.92sINFOros2_control_node[2026-10-13 16:57:07.045] [info] Received new action goal ×2 + 13.92sINFOros2_control_node[2026-10-13 16:57:07.045] [info] Accepted new action goal ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266345 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266345 ms (missed cycles : 2).[0m ×2 + 14.86sWARNros2_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 + 15.83sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768570 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768570 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672620 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672620 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076499 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076499 ms (missed cycles : 4).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791910467.43396902 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688066 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688066 ms (missed cycles : 2).[0m ×2 + 2.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.59sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.59sINFOobjective_server_nodecaller: ×6 + 2.59sINFOobjective_server_nodetype: 0 ×6 + 2.59sINFOobjective_server_nodename: "" ×6 + 2.59sINFOobjective_server_nodeinstance_id: "" ×6 + 2.59sINFOobjective_server_node ×6 + 2.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791910468.04332423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791910468.11355829 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919584 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919584 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.53sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.66sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910471.05660367 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2).[0m ×2 + 6.80sWARNros2_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 + 7.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.22sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910472.69260025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.38sINFOobjective_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 + 7.39sINFOobjective_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 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3).[0m ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.73sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Received new action goal ×2 + 7.73sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Accepted new action goal ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.1s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759580 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759580 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975785 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975785 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_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 + 3.14sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1791910688.22877479 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.70sINFOobjective_server_nodecaller: ×8 + 3.70sINFOobjective_server_nodetype: 0 ×8 + 3.70sINFOobjective_server_nodename: "" ×8 + 3.70sINFOobjective_server_nodeinstance_id: "" ×8 + 3.70sINFOobjective_server_node ×8 + 3.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910688.83643174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910690.37658453 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.85sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791910690.99995065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.92sINFOobjective_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 + 5.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791910691.00211191 seconds ×3 + 6.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.58sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791910691.72732282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791910691.75848627 seconds ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194762 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194762 ms (missed cycles : 2).[0m ×2 + 6.99sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 7.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791910692.36124873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214526 ms (missed cycles : 4). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214526 ms (missed cycles : 4).[0m ×2 + 8.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791910693.13140225 seconds ×3 + 8.10sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 32 warnings · 413 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205280 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205280 ms (missed cycles : 4).[0m ×2 + 0.21sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.86sWARNros2_control_nodeCamera render tick took 2.00 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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×17 + 1.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 1.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5).[0m ×2 + 2.19sWARNros2_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 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.26sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.26sINFOobjective_server_nodecaller: ×14 + 2.26sINFOobjective_server_nodetype: 0 ×14 + 2.26sINFOobjective_server_nodename: "" ×14 + 2.26sINFOobjective_server_nodeinstance_id: "" ×14 + 2.26sINFOobjective_server_node ×14 + 2.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910362.18265367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910362.19289827 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 5.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 6.21sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 6.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 7.35sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 7.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 7.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.64sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 7.64sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.9s | 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131042 ms (missed cycles : 5). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131042 ms (missed cycles : 5).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.90sINFOobjective_server_nodecaller: ×6 + 3.90sINFOobjective_server_nodetype: 0 ×6 + 3.90sINFOobjective_server_nodename: "" ×6 + 3.90sINFOobjective_server_nodeinstance_id: "" ×6 + 3.90sINFOobjective_server_node ×6 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_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 + 4.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.61sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.76sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 6.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Got request to cancel active goal. ×2 + 0.72sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Canceling active goal... ×2 + 0.73sERRORobjective_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: 1791910688.22877479 seconds ×3 + 0.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.27sINFOobjective_server_nodecaller: ×8 + 1.27sINFOobjective_server_nodetype: 0 ×8 + 1.27sINFOobjective_server_nodename: "" ×8 + 1.27sINFOobjective_server_nodeinstance_id: "" ×8 + 1.27sINFOobjective_server_node ×8 + 1.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910688.83643174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910690.37658453 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791910690.99995065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.50sINFOobjective_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 + 3.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791910691.00211191 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791910691.72732282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791910691.75848627 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194762 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194762 ms (missed cycles : 2).[0m ×2 + 4.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791910692.36124873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214526 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214526 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791910693.13140225 seconds ×3 + 5.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770171 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770171 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708501 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708501 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4).[0m ×2 + 2.98sINFOobjective_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 + 2.99sERRORobjective_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: 1791910388.81197214 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2).[0m ×2 + 3.29sWARNros2_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 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910389.42195153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910389.53208470 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910390.22715282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.62sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-10-13 16:53:17.356] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-10-13 16:53:17.356] [info] Accepted new action goal ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171770 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171770 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Accepted new action goal ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910400.29251003 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 2.94sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910400.94003034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910400.99017239 seconds ×3 + 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 + 4.33sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910401.68284416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.46sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652210 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652210 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672620 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672620 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076499 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076499 ms (missed cycles : 4).[0m ×2 + 2.67sWARNros2_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 + 3.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791910467.43396902 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688066 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688066 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791910468.04332423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791910468.11355829 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919584 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919584 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910471.05660367 seconds ×3 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.7s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.51sINFOobjective_server_nodecaller: ×6 + 2.52sINFOobjective_server_nodetype: 0 ×6 + 2.52sINFOobjective_server_nodename: "" ×6 + 2.52sINFOobjective_server_nodeinstance_id: "" ×6 + 2.52sINFOobjective_server_node ×6 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 4.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 27 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5).[0m ×2 + 1.33sWARNros2_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 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.40sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.40sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.40sINFOobjective_server_nodecaller: ×14 + 1.40sINFOobjective_server_nodetype: 0 ×14 + 1.40sINFOobjective_server_nodename: "" ×14 + 1.40sINFOobjective_server_nodeinstance_id: "" ×14 + 1.40sINFOobjective_server_node ×14 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910362.18265367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910362.19289827 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 5.35sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 6.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 6.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.79sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Got request to cancel active goal. ×2 + 0.72sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Canceling active goal... ×2 + 0.73sERRORobjective_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: 1791910688.22877479 seconds ×3 + 0.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.27sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.27sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.27sINFOobjective_server_nodecaller: ×8 + 1.27sINFOobjective_server_nodetype: 0 ×8 + 1.27sINFOobjective_server_nodename: "" ×8 + 1.27sINFOobjective_server_nodeinstance_id: "" ×8 + 1.27sINFOobjective_server_node ×8 + 1.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910688.83643174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910690.37658453 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791910690.99995065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.50sINFOobjective_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 + 3.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791910691.00211191 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.22sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1791910691.72732282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1791910691.75848627 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194762 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194762 ms (missed cycles : 2).[0m ×2 + 4.56sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1791910692.36124873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214526 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214526 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1791910693.13140225 seconds ×3 + 5.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770171 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770171 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184323 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184323 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910400.29251003 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910400.94003034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910400.99017239 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910401.68284416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 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 (3.29e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.872025 ms (missed cycles : 5). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.872025 ms (missed cycles : 5).[0m ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00397727 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.42sINFOros2_control_node[2026-10-13 16:53:51.390] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-10-13 16:53:51.390] [info] Accepted new action goal ×2 + 0.85sINFOros2_control_node[2026-10-13 16:53:51.824] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-10-13 16:53:51.824] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594295 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594295 ms (missed cycles : 2).[0m ×2 + 1.20sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477325 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477325 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.73sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.73sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.73sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1791910433.73742390 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693997 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693997 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1791910434.55054522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779376 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779376 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-10-13 16:53:55.585] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-10-13 16:53:55.585] [info] Accepted new action goal ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366735 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366735 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 1930 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910593.54833078 seconds ×3 + 3.42sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.42sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.06sINFOobjective_server_nodecaller: ×2 + 4.06sINFOobjective_server_nodetype: 0 ×2 + 4.06sINFOobjective_server_nodename: "" ×2 + 4.06sINFOobjective_server_nodeinstance_id: "" ×2 + 4.06sINFOobjective_server_node ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910594.29720688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708501 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708501 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4).[0m ×2 + 2.98sINFOobjective_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 + 2.99sERRORobjective_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: 1791910388.81197214 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2).[0m ×2 + 3.29sWARNros2_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 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910389.42195153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910389.53208470 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910390.22715282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.62sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708501 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708501 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4).[0m ×2 + 2.98sINFOobjective_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 + 2.99sERRORobjective_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: 1791910388.81197214 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2).[0m ×2 + 3.29sWARNros2_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 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910389.42195153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910389.53208470 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910390.22715282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.62sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4).[0m ×2 + 1.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sERRORobjective_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: 1791910388.81197214 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_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 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.45sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.45sINFOobjective_server_nodecaller: ×4 + 2.45sINFOobjective_server_nodetype: 0 ×4 + 2.45sINFOobjective_server_nodename: "" ×4 + 2.45sINFOobjective_server_nodeinstance_id: "" ×4 + 2.45sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910389.42195153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910389.53208470 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910390.22715282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4).[0m ×2 + 1.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sERRORobjective_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: 1791910388.81197214 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_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 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.45sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.45sINFOobjective_server_nodecaller: ×4 + 2.45sINFOobjective_server_nodetype: 0 ×4 + 2.45sINFOobjective_server_nodename: "" ×4 + 2.45sINFOobjective_server_nodeinstance_id: "" ×4 + 2.45sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910389.42195153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910389.53208470 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910390.22715282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4).[0m ×2 + 1.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sERRORobjective_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: 1791910388.81197214 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_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 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.45sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.45sINFOobjective_server_nodecaller: ×4 + 2.45sINFOobjective_server_nodetype: 0 ×4 + 2.45sINFOobjective_server_nodename: "" ×4 + 2.45sINFOobjective_server_nodeinstance_id: "" ×4 + 2.45sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910389.42195153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910389.53208470 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910390.22715282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415154 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604319 ms (missed cycles : 4).[0m ×2 + 1.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sERRORobjective_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: 1791910388.81197214 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324457 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_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 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.45sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.45sINFOobjective_server_nodecaller: ×4 + 2.45sINFOobjective_server_nodetype: 0 ×4 + 2.45sINFOobjective_server_nodename: "" ×4 + 2.45sINFOobjective_server_nodeinstance_id: "" ×4 + 2.45sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1791910389.42195153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1791910389.53208470 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006205 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1791910390.22715282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.53sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-10-13 16:53:10.441] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935822 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075916 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910400.29251003 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910400.94003034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910400.99017239 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910401.68284416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910400.29251003 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910400.94003034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910400.99017239 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910401.68284416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910400.29251003 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910400.94003034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910400.99017239 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910401.68284416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.433435 ms (missed cycles : 8).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-10-13 16:53:18.996] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667773 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1791910400.29251003 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006868 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1791910400.94003034 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1791910400.99017239 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1791910401.68284416 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Received new action goal ×2 + 3.16sINFOros2_control_node[2026-10-13 16:53:21.817] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710359 ms (missed cycles : 2).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135600 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670246 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 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 2.881806 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881806 ms (missed cycles : 2).[0m ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-10-13 16:53:29.934] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119172 ms (missed cycles : 2).[0m ×2 + 1.63sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008605 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_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 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Got request to cancel active goal. ×2 + 2.36sINFOros2_control_node[2026-10-13 16:53:31.703] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1791910411.71564293 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.95sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.95sINFOobjective_server_nodecaller: ×2 + 2.95sINFOobjective_server_nodetype: 0 ×2 + 2.95sINFOobjective_server_nodename: "" ×2 + 2.95sINFOobjective_server_nodeinstance_id: "" ×2 + 2.95sINFOobjective_server_node ×2 + 3.07sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1791910412.41739202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941056 ms (missed cycles : 2).[0m ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-10-13 16:53:32.631] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848414 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652210 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652210 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672620 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672620 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076499 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076499 ms (missed cycles : 4).[0m ×2 + 2.67sWARNros2_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 + 3.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1791910467.43396902 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688066 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688066 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1791910468.04332423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1791910468.11355829 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919584 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919584 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.71sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910471.05660367 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910472.69260025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910471.05660367 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910472.69260025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910471.05660367 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910472.69260025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910471.05660367 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910472.69260025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910471.05660367 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910472.69260025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910471.05660367 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910472.69260025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_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 + 0.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1791910468.92644477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-10-13 16:54:29.051] [info] Accepted new action goal ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741932 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839282 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1791910471.05660367 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815721 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sWARNros2_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1791910472.69260025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_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 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140876 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.45e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-10-13 16:54:33.120] [info] Accepted new action goal ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911107 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888082 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623742 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623742 ms (missed cycles : 6).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852154 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852154 ms (missed cycles : 2).[0m ×2 + 2.08sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042692 ms (missed cycles : 6). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.042692 ms (missed cycles : 6).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1791910526.83370590 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOobjective_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: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×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 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795496 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795496 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1791910527.45591378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (7.88e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.48sINFOros2_control_node[2026-10-13 16:55:27.651] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-13 16:55:27.651] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970063 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.970063 ms (missed cycles : 5).[0m ×2 + 4.75sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186824 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186824 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 · 1930 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910593.54833078 seconds ×3 + 3.42sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.42sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.06sINFOobjective_server_nodecaller: ×2 + 4.06sINFOobjective_server_nodetype: 0 ×2 + 4.06sINFOobjective_server_nodename: "" ×2 + 4.06sINFOobjective_server_nodeinstance_id: "" ×2 + 4.06sINFOobjective_server_node ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910594.29720688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 1930 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910593.54833078 seconds ×3 + 3.42sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.42sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.06sINFOobjective_server_nodecaller: ×2 + 4.06sINFOobjective_server_nodetype: 0 ×2 + 4.06sINFOobjective_server_nodename: "" ×2 + 4.06sINFOobjective_server_nodeinstance_id: "" ×2 + 4.06sINFOobjective_server_node ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910594.29720688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 1930 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910593.54833078 seconds ×3 + 3.42sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.42sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.06sINFOobjective_server_nodecaller: ×2 + 4.06sINFOobjective_server_nodetype: 0 ×2 + 4.06sINFOobjective_server_nodename: "" ×2 + 4.06sINFOobjective_server_nodeinstance_id: "" ×2 + 4.06sINFOobjective_server_node ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910594.29720688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 1930 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×307 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×307 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×614 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×614 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950614 ms (missed cycles : 2).[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816701 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791766 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1791910593.54833078 seconds ×3 + 3.42sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.42sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297385 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 4.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 4.06sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 4.06sINFOobjective_server_nodeparameter_overrides: [] ×2 + 4.06sINFOobjective_server_nodecaller: ×2 + 4.06sINFOobjective_server_nodetype: 0 ×2 + 4.06sINFOobjective_server_nodename: "" ×2 + 4.06sINFOobjective_server_nodeinstance_id: "" ×2 + 4.06sINFOobjective_server_node ×2 + 4.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1791910594.29720688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-10-13 16:56:34.512] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713640 ms (missed cycles : 2).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478538 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from AprilTag Detections | pick_from_apriltag_detections.xml | 0.0s | 23 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953713 ms (missed cycles : 6).[0m ×2 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721573 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-10-13 16:56:42.638] [info] Accepted new action goal ×2 + 1.61sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979477 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1791910603.94281387 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559561 ms (missed cycles : 2).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.66sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.66sINFOobjective_server_nodecaller: ×2 + 3.66sINFOobjective_server_nodetype: 0 ×2 + 3.66sINFOobjective_server_nodename: "" ×2 + 3.66sINFOobjective_server_nodeinstance_id: "" ×2 + 3.66sINFOobjective_server_node ×2 + 3.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1791910605.38802171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-10-13 16:56:45.573] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931081 ms (missed cycles : 2).[0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.76% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.844415 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395531 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418972 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418972 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797154 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797154 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926326 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926326 ms (missed cycles : 4).[0m ×2 + 2.11sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sINFOobjective_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 + 2.58sERRORobjective_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: 1791910615.70862532 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451152 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451152 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1791910616.35323453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.55sINFOros2_control_node[2026-10-13 16:56:56.672] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-10-13 16:56:56.672] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287718 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287718 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764423 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764423 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810328 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810328 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546345 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.546345 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998129 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998129 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1791910626.28020287 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690361 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690361 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1791910626.92045856 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.48sINFOros2_control_node[2026-10-13 16:57:07.045] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-10-13 16:57:07.045] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266345 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266345 ms (missed cycles : 2).[0m ×2 + 4.41sWARNros2_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 + 5.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768570 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768570 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679920 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679920 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306534 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306534 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680048 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680048 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_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 + 2.86sERRORobjective_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: 1791910637.21080828 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085779 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085779 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1791910637.84393382 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814531 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814531 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.53sINFOros2_control_node[2026-10-13 16:57:18.878] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-10-13 16:57:18.878] [info] Accepted new action goal ×2 + 4.93sWARNros2_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 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974925 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974925 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 22 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131042 ms (missed cycles : 5). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131042 ms (missed cycles : 5).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.90sINFOobjective_server_nodecaller: ×6 + 3.90sINFOobjective_server_nodetype: 0 ×6 + 3.90sINFOobjective_server_nodename: "" ×6 + 3.90sINFOobjective_server_nodeinstance_id: "" ×6 + 3.90sINFOobjective_server_node ×6 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_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 + 4.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.61sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.76sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 6.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 22 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131042 ms (missed cycles : 5). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131042 ms (missed cycles : 5).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.90sINFOobjective_server_nodecaller: ×6 + 3.90sINFOobjective_server_nodetype: 0 ×6 + 3.90sINFOobjective_server_nodename: "" ×6 + 3.90sINFOobjective_server_nodeinstance_id: "" ×6 + 3.90sINFOobjective_server_node ×6 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_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 + 4.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.61sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.76sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 6.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 22 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131042 ms (missed cycles : 5). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131042 ms (missed cycles : 5).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.90sINFOobjective_server_nodecaller: ×6 + 3.90sINFOobjective_server_nodetype: 0 ×6 + 3.90sINFOobjective_server_nodename: "" ×6 + 3.90sINFOobjective_server_nodeinstance_id: "" ×6 + 3.90sINFOobjective_server_node ×6 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.88sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_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 + 4.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 5.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.54sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.61sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 5.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.76sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 5.76sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 6.01sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.51sINFOobjective_server_nodecaller: ×6 + 2.52sINFOobjective_server_nodetype: 0 ×6 + 2.52sINFOobjective_server_nodename: "" ×6 + 2.52sINFOobjective_server_nodeinstance_id: "" ×6 + 2.52sINFOobjective_server_node ×6 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 4.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.51sINFOobjective_server_nodecaller: ×6 + 2.52sINFOobjective_server_nodetype: 0 ×6 + 2.52sINFOobjective_server_nodename: "" ×6 + 2.52sINFOobjective_server_nodeinstance_id: "" ×6 + 2.52sINFOobjective_server_node ×6 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 4.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.51sINFOobjective_server_nodecaller: ×6 + 2.52sINFOobjective_server_nodetype: 0 ×6 + 2.52sINFOobjective_server_nodename: "" ×6 + 2.52sINFOobjective_server_nodeinstance_id: "" ×6 + 2.52sINFOobjective_server_node ×6 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 4.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381284 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476718 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1791910675.59747767 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135617 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.51sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.51sINFOobjective_server_nodecaller: ×6 + 2.52sINFOobjective_server_nodetype: 0 ×6 + 2.52sINFOobjective_server_nodename: "" ×6 + 2.52sINFOobjective_server_nodeinstance_id: "" ×6 + 2.52sINFOobjective_server_node ×6 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1791910676.39131260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.84sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1791910676.50155807 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832907 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.50sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1791910677.12998843 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1791910677.16256309 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1791910677.85344982 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589106 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-10-13 16:57:58.007] [info] Accepted new action goal ×2 + 4.62sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118548 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980069 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 138 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759580 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759580 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975785 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975785 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_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 + 3.14sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1791910688.22877479 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910688.83643174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910690.37658453 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.85sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791910690.99995065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.92sINFOobjective_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 + 5.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791910691.00211191 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 138 info |
+ 0.00sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759580 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759580 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975785 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975785 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223834 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_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 + 3.14sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Got request to cancel active goal. ×2 + 3.14sINFOros2_control_node[2026-10-13 16:58:08.223] [info] Canceling active goal... ×2 + 3.15sERRORobjective_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: 1791910688.22877479 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027366 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1791910688.83643174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369410 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1791910690.37658453 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408270 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.85sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1791910690.99995065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.92sINFOobjective_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 + 5.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1791910691.00211191 seconds ×3 | ||||
▾
/__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 | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 11.4s | 54 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/2026-10-13-16-52-30-847711-b48a0b0606f0-8118 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.70sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.71sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.72sINFOcontroller_managerupdate rate is 600 Hz + 0.72sINFOcontroller_managerOverruns handling is : enabled + 0.72sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.72sWARNcontroller_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 3.754309 ms (missed cycles : 3). + 0.93sINFOros2_control_node-1process started with pid [8166] ×2 + 0.93sINFOmove_group-9process started with pid [8203] ×2 + 0.93sINFOparameter_manager_node-10process started with pid [8204] ×2 + 0.93sINFOwaypoint_manager_node-11process started with pid [8205] ×2 + 0.93sINFOmove_joint_resampler_node-12process started with pid [8206] ×2 + 0.93sINFOmove_end_effector_resampler_node-13process started with pid [8207] ×2 + 0.93sINFOobjective_server_node_main-14process started with pid [8208] ×2 + 0.93sINFOcomponent_container_mt-15process started with pid [8209] ×2 + 0.93sINFOcomponent_container_mt-16process started with pid [8210] ×2 + 0.93sINFOexecute_objective_bridge-17process started with pid [8211] ×2 + 0.93sINFOui_teleop_bridge-18process started with pid [8212] ×2 + 0.93sINFOweb_bridge-19process started with pid [8213] ×2 + 0.93sINFOtf_visualization_relay-20process started with pid [8291] ×2 + 0.93sINFOjoint_state_visualization_relay-21process started with pid [8292] ×2 + 0.93sINFOtf2_web_republisher_node-22process started with pid [8293] ×2 + 0.93sINFOvideo_server-23process started with pid [8294] ×2 + 0.93sINFOweb_bridge_auth_proxy-24process started with pid [8295] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8296] ×2 + 0.93sINFOros2-2process started with pid [8167] ×2 + 0.93sINFOros2-3process started with pid [8168] ×2 + 0.93sINFOros2-4process started with pid [8169] ×2 + 0.93sINFOros2-5process started with pid [8170] ×2 + 0.93sINFOros2-6process started with pid [8171] ×2 + 0.93sINFOros2-7process started with pid [8172] ×2 + 0.93sINFOros2-8process started with pid [8173] ×2 + 0.96sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.96sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.96sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.96sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.96sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.96sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754309 ms (missed cycles : 3).[0m ×2 + 0.98sINFOcontroller_managerReceived robot description from topic. + 0.98sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.98sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.98sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.04sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.04sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.34sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.47sINFOvideo_server2026/10/13 16:52:32 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.48sINFOvideo_server2026/10/13 16:52:32 INF configuration loaded from /tmp/moveit-webrtc-5txtinko/mediamtx.yml ×2 + 1.48sINFOvideo_server2026/10/13 16:52:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.48sINFOvideo_server2026/10/13 16:52:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.64sINFOweb_bridge_auth_proxy2026-10-13 16:52:32,836 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.64sINFOweb_bridge_auth_proxy2026-10-13 16:52:32,839 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.66sINFOweb_video_auth_proxy2026-10-13 16:52:32,857 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.72sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569741 ms (missed cycles : 5). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569741 ms (missed cycles : 5).[0m ×2 + 2.01sINFOmove_group[2026-10-13 16:52:33.200] [moveit_pro_license] [info] ×2 + 2.01sINFOmove_group************************************************* ×4 + 2.01sINFOmove_group* MoveIt Pro License ×2 + 2.01sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.35sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.40sINFOwaypoint_manager_node[2026-10-13 16:52:33.592] [moveit_pro_license] [info] ×2 + 2.40sINFOwaypoint_manager_node************************************************* ×4 + 2.40sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.40sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.42sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.48sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.51sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.60sINFOmove_group ×4 + 2.60sINFOmove_group[92mYou can start planning now![0m ×2 + 2.89sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.89sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.89sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.89sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.90sINFOros2_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 + 2.90sINFOros2_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 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443321 ms (missed cycles : 6). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443321 ms (missed cycles : 6).[0m ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.86sINFOobjective_server_node[2026-10-13 16:52:35.056] [moveit_pro_license] [info] ×2 + 3.86sINFOobjective_server_node************************************************* ×4 + 3.86sINFOobjective_server_node* MoveIt Pro License ×2 + 3.86sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.01sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.01sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.01sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.01sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.01sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.01sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.01sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.01sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.09sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.09sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.75sINFOcomponent_container_mt[2026-10-13 16:52:35.941] [moveit_pro_license] [info] ×2 + 4.75sINFOcomponent_container_mt************************************************* ×4 + 4.75sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.75sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.85sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.85sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk. Its parent TF edge is published by this interface from MuJoCo ground truth.[0m ×2 + 4.85sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.85sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.85sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.85sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.85sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.85sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.85sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.85sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.85sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.85sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.85sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.85sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.85sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.85sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.85sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.85sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.85sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.85sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.85sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.85sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.85sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.85sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.85sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.85sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.85sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.85sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.85sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.85sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.85sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677553 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677553 ms (missed cycles : 2).[0m ×2 + 4.97sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.97sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.97sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.97sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f + 5.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f [0m ×2 + 5.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.16sINFOros2_control_node[2026-10-13 16:52:36.352] [info] Controller state will be published at 20 Hz. ×2 + 5.16sINFOros2_control_node[2026-10-13 16:52:36.353] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.35sINFOros2_control_nodeTrying EGL candidate default display for offscreen camera rendering.[0m ×2 + 5.35sINFOros2_control_nodeTrying EGL candidate platform device 0 (software) for offscreen camera rendering.[0m ×2 + 5.39sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 5.39sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 5.39sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 5.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.49sINFOros2-8process has finished cleanly [pid 8173] ×2 + 5.52sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f + 5.52sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f [0m ×2 + 5.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.56sINFOros2_control_node[2026-10-13 16:52:36.755] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.56sINFOros2_control_node[2026-10-13 16:52:36.755] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.59sINFOros2_control_node[2026-10-13 16:52:36.781] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.59sINFOros2_control_node[2026-10-13 16:52:36.781] [info] Controller state will be published at 50 Hz. ×2 + 5.60sINFOros2_control_node[2026-10-13 16:52:36.791] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f + 5.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f [0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727182 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727182 ms (missed cycles : 2).[0m ×2 + 5.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.95sINFOforce_torque_sensor_broadcasterconfigure successful + 5.95sINFOros2_control_nodeconfigure successful[0m ×2 + 5.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.95sINFOcontroller_managerSuccessfully switched controllers! ×16 + 5.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 5.95sINFOros2-6process has finished cleanly [pid 8171] ×2 + 5.96sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.96sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.25sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.25sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.25sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f + 6.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f [0m ×2 + 6.32sINFOros2-2process has finished cleanly [pid 8167] ×2 + 6.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.33sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.34sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.34sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.69sINFOros2-5process has finished cleanly [pid 8170] ×2 + 6.70sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f + 6.70sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f [0m ×2 + 6.74sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.74sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.74sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.74sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.77sINFOros2_control_node[2026-10-13 16:52:37.961] [info] Controller state will be published at 10 Hz. ×2 + 6.77sINFOros2_control_node[2026-10-13 16:52:37.962] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802272 ms (missed cycles : 2).[0m ×2 + 7.11sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.11sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f + 7.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f [0m ×2 + 7.15sINFOros2-7process has finished cleanly [pid 8172] ×2 + 7.16sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.16sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.16sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.16sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.16sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.17sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.17sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f + 7.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_l0_ijec7 --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_2w2gv9po --params-file /tmp/launch_params_i67jxw_f [0m ×2 + 7.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.52sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.52sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.52sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.52sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.52sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.52sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.53sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.53sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.54sINFOros2-4process has finished cleanly [pid 8169] ×2 + 7.87sINFOros2-3process has finished cleanly [pid 8168] ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205280 ms (missed cycles : 4). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205280 ms (missed cycles : 4).[0m ×2 + 8.87sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.52sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2).[0m ×2 + 10.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 10.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 10.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 10.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 10.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 10.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 10.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 10.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 10.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 10.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 10.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 10.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5).[0m ×2 + 10.85sWARNros2_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 + 10.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 10.93sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 10.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 10.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 10.93sINFOobjective_server_nodecaller: ×10 + 10.93sINFOobjective_server_nodetype: 0 ×10 + 10.93sINFOobjective_server_nodename: "" ×10 + 10.93sINFOobjective_server_nodeinstance_id: "" ×10 + 10.93sINFOobjective_server_node ×10 + 10.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910362.18265367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910362.19289827 seconds ×3 + 11.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.54sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 11.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 11.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 12.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 13.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.08sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 13.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 13.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 13.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 14.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 14.88sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 27 warnings · 386 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5).[0m ×2 + 0.05sWARNros2_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 + 0.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.12sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.12sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.12sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.12sINFOobjective_server_nodecaller: ×14 + 0.12sINFOobjective_server_nodetype: 0 ×14 + 0.12sINFOobjective_server_nodename: "" ×14 + 0.12sINFOobjective_server_nodeinstance_id: "" ×14 + 0.12sINFOobjective_server_node ×14 + 0.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910362.18265367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910362.19289827 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 4.07sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 5.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.48sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.50sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5).[0m ×2 + 0.64sWARNros2_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 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.71sINFOobjective_server_nodecaller: ×14 + 0.71sINFOobjective_server_nodetype: 0 ×14 + 0.71sINFOobjective_server_nodename: "" ×14 + 0.71sINFOobjective_server_nodeinstance_id: "" ×14 + 0.71sINFOobjective_server_node ×14 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910362.18265367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910362.19289827 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 4.66sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 5.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.07sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.09sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 12 warnings · 159 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-10-13-16-52-30-847711-b48a0b0606f0-8118 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.70sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.71sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.72sINFOcontroller_managerupdate rate is 600 Hz + 0.72sINFOcontroller_managerOverruns handling is : enabled + 0.72sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.72sWARNcontroller_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 3.754309 ms (missed cycles : 3). + 0.93sINFOros2_control_node-1process started with pid [8166] ×2 + 0.93sINFOmove_group-9process started with pid [8203] ×2 + 0.93sINFOparameter_manager_node-10process started with pid [8204] ×2 + 0.93sINFOwaypoint_manager_node-11process started with pid [8205] ×2 + 0.93sINFOmove_joint_resampler_node-12process started with pid [8206] ×2 + 0.93sINFOmove_end_effector_resampler_node-13process started with pid [8207] ×2 + 0.93sINFOobjective_server_node_main-14process started with pid [8208] ×2 + 0.93sINFOcomponent_container_mt-15process started with pid [8209] ×2 + 0.93sINFOcomponent_container_mt-16process started with pid [8210] ×2 + 0.93sINFOexecute_objective_bridge-17process started with pid [8211] ×2 + 0.93sINFOui_teleop_bridge-18process started with pid [8212] ×2 + 0.93sINFOweb_bridge-19process started with pid [8213] ×2 + 0.93sINFOtf_visualization_relay-20process started with pid [8291] ×2 + 0.93sINFOjoint_state_visualization_relay-21process started with pid [8292] ×2 + 0.93sINFOtf2_web_republisher_node-22process started with pid [8293] ×2 + 0.93sINFOvideo_server-23process started with pid [8294] ×2 + 0.93sINFOweb_bridge_auth_proxy-24process started with pid [8295] ×2 + 0.93sINFOweb_video_auth_proxy-25process started with pid [8296] ×2 + 0.93sINFOros2-2process started with pid [8167] ×2 + 0.93sINFOros2-3process started with pid [8168] ×2 + 0.93sINFOros2-4process started with pid [8169] ×2 + 0.93sINFOros2-5process started with pid [8170] ×2 + 0.93sINFOros2-6process started with pid [8171] ×2 + 0.93sINFOros2-7process started with pid [8172] ×2 + 0.93sINFOros2-8process started with pid [8173] ×2 + 0.96sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.96sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.96sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.96sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.96sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.96sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754309 ms (missed cycles : 3).[0m ×2 + 0.98sINFOcontroller_managerReceived robot description from topic. + 0.98sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.98sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.98sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.04sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.04sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.34sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.47sINFOvideo_server2026/10/13 16:52:32 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.48sINFOvideo_server2026/10/13 16:52:32 INF configuration loaded from /tmp/moveit-webrtc-5txtinko/mediamtx.yml ×2 + 1.48sINFOvideo_server2026/10/13 16:52:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.48sINFOvideo_server2026/10/13 16:52:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.64sINFOweb_bridge_auth_proxy2026-10-13 16:52:32,836 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.64sINFOweb_bridge_auth_proxy2026-10-13 16:52:32,839 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.66sINFOweb_video_auth_proxy2026-10-13 16:52:32,857 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.72sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569741 ms (missed cycles : 5). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569741 ms (missed cycles : 5).[0m ×2 + 2.01sINFOmove_group[2026-10-13 16:52:33.200] [moveit_pro_license] [info] ×2 + 2.01sINFOmove_group************************************************* ×4 + 2.01sINFOmove_group* MoveIt Pro License ×2 + 2.01sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.35sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.40sINFOwaypoint_manager_node[2026-10-13 16:52:33.592] [moveit_pro_license] [info] ×2 + 2.40sINFOwaypoint_manager_node************************************************* ×4 + 2.40sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.40sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.42sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.42sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.48sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.51sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.60sINFOmove_group ×4 + 2.60sINFOmove_group[92mYou can start planning now![0m ×2 + 2.89sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.89sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.89sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.89sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.90sINFOros2_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 + 2.90sINFOros2_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 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443321 ms (missed cycles : 6). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443321 ms (missed cycles : 6).[0m ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5).[0m ×2 + 1.33sWARNros2_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 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.40sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.40sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.40sINFOobjective_server_nodecaller: ×14 + 1.40sINFOobjective_server_nodetype: 0 ×14 + 1.40sINFOobjective_server_nodename: "" ×14 + 1.40sINFOobjective_server_nodeinstance_id: "" ×14 + 1.40sINFOobjective_server_node ×14 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910362.18265367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910362.19289827 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 5.35sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 6.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 6.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.79sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5).[0m ×2 + 1.33sWARNros2_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 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.40sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.40sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.40sINFOobjective_server_nodecaller: ×14 + 1.40sINFOobjective_server_nodetype: 0 ×14 + 1.40sINFOobjective_server_nodename: "" ×14 + 1.40sINFOobjective_server_nodeinstance_id: "" ×14 + 1.40sINFOobjective_server_node ×14 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910362.18265367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910362.19289827 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 5.35sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 6.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 6.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.79sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 413 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 2.00 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673675 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.75sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5).[0m ×2 + 1.33sWARNros2_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 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.40sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.40sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.40sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.40sINFOobjective_server_nodecaller: ×14 + 1.40sINFOobjective_server_nodetype: 0 ×14 + 1.40sINFOobjective_server_nodename: "" ×14 + 1.40sINFOobjective_server_nodeinstance_id: "" ×14 + 1.40sINFOobjective_server_node ×14 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910362.18265367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910362.19289827 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 5.35sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 6.49sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.77sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 6.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.79sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 413 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5).[0m ×2 + 0.64sWARNros2_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 + 0.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.71sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.71sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.71sINFOobjective_server_nodecaller: ×14 + 0.71sINFOobjective_server_nodetype: 0 ×14 + 0.71sINFOobjective_server_nodename: "" ×14 + 0.71sINFOobjective_server_nodeinstance_id: "" ×14 + 0.71sINFOobjective_server_node ×14 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910362.18265367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910362.19289827 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 4.66sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 5.79sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.07sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.09sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 383 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906874 ms (missed cycles : 5).[0m ×2 + 0.05sWARNros2_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 + 0.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.12sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.12sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.12sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.12sINFOobjective_server_nodecaller: ×14 + 0.12sINFOobjective_server_nodetype: 0 ×14 + 0.12sINFOobjective_server_nodename: "" ×14 + 0.12sINFOobjective_server_nodeinstance_id: "" ×14 + 0.12sINFOobjective_server_node ×14 + 0.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1791910362.18265367 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1791910362.19289827 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 4.07sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 5.21sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.48sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.50sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 23 warnings · 328 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 + 7.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.19sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 7.20sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.22sINFOros2_control_node[2026-10-13 16:52:50.021] [info] Received new action goal ×2 + 7.22sINFOros2_control_node[2026-10-13 16:52:50.021] [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 | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 23 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1791910362.80266619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795400 ms (missed cycles : 2).[0m ×2 + 0.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1791910363.71283603 seconds ×3 + 0.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997348 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.48sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.48sINFOobjective_server_nodecaller: ×10 + 1.48sINFOobjective_server_nodetype: 0 ×10 + 1.48sINFOobjective_server_nodename: "" ×10 + 1.48sINFOobjective_server_nodeinstance_id: "" ×10 + 1.48sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1791910364.33572102 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1791910364.39590383 seconds ×3 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1791910365.07918835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1791910365.09934640 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783568 ms (missed cycles : 2).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1791910365.70465255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1791910365.85547948 seconds ×3 + 3.27sINFOros2_control_nodeMuJoCo sim: 0.49% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008582 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1791910366.57658815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1791910366.64671993 seconds ×3 + 4.41sWARNros2_control_nodePoint clouds or scans unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708028 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1791910367.34588099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.2107e-05 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-10-13 16:52:47.503] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918533 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000059 ms (missed cycles : 5).[0m ×2 | ||||